NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 35 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 14.63 of 350.00 AH used of 24V (95.82% remains)
• Surface angle -62.6 deg, depth 0.74 m • Intended pitch -19.7 deg, speed -7.674 cm/s
VBD pumped to 425.01 (SM_CC=425)
• GPS1 time: 23 s
• GPS2 time: 2 s • Transponder ping count: 1
• 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
6.17 - - - 69.23 VBD -1.22 - - 180.38 - - - 2128.50 - -77.86 62.53 0.005 2240.69 - - - - - - - - - - 15.67
69.46 3.78 -5.19 12 106.49 -1.22 13.65 0.286 1843.94 121.9 3.30 0.130 3475.12 408.1 -77.86 14.46 0.006 2875.78 43.9 -4.571 - - - - - - 15.59 15.64 15.70
139.18 22.79 -29.88 26 144.84 roll -1.22 - - 1844.00 - 3.27 0.070 2091.06 -423.3 -77.86 - - 2877.31 - - - - - - - - - 15.72 -
324.23 69.47 -20.43 63 329.91 roll -1.22 - - 1844.00 - 3.39 0.125 3476.19 408.6 -77.86 - - 2878.50 - - - - - - - - - 15.78 -
429.30 86.87 -16.08 84 434.92 roll -1.22 - - 1844.19 - 3.24 0.067 2091.44 -427.4 -77.86 - - 2877.06 - - - - - - - - - 15.82 -
614.29 111.27 -12.29 112 619.97 roll -1.22 - - 1844.50 - 3.68 0.169 661.75 -388.5 -77.86 - - 2876.62 - - - - - - - - - 15.83 -
679.30 119.58 -12.40 125 683.84 roll -1.22 - - 1844.56 - 3.37 0.063 2131.12 436.0 -77.86 - - 2878.12 - - - - - - - - - 15.88 -
989.33 151.23 -10.23 157 995.04 roll -1.22 - - 1843.88 - 3.81 0.171 661.56 -385.7 -77.86 - - 2877.81 - - - - - - - - - 15.90 -
1068.26 161.06 -11.91 173 1075.03 roll -1.22 - - 1844.44 - 3.36 0.066 2129.75 437.0 -77.86 - - 2879.69 - - - - - - - - - 15.94 -
1374.38 191.88 -10.74 204 1375.70 no move -1.22 - - 1844.12 - - - 2129.88 - -77.86 - - 2878.84 - - - - - - - - - - -
1674.41 224.51 -10.90 234 1675.74 no move -1.22 - - 1844.31 - - - 2129.94 - -77.86 - - 2878.81 - - - - - - - - - - -
1974.45 258.97 -11.32 264 1980.16 roll -1.22 - - 1844.25 - 3.82 0.180 661.62 -384.4 -77.86 - - 2879.50 - - - - - - - - - 15.99 -
2049.51 269.04 -14.19 279 2054.08 roll -1.22 - - 1844.31 - 3.38 0.074 2128.81 434.1 -77.86 - - 2878.19 - - - - - - - - - 16.03 -
2359.49 301.31 -9.94 311 2365.20 roll -1.22 - - 1843.94 - 3.83 0.182 663.31 -382.6 -77.86 - - 2876.50 - - - - - - - - - 16.01 -
2444.55 311.56 -12.51 328 2449.12 roll -1.22 - - 1844.31 - 3.38 0.076 2127.44 433.2 -77.86 - - 2878.50 - - - - - - - - - 16.05 -
2754.55 342.55 -9.22 360 2755.88 no move -1.22 - - 1843.88 - - - 2127.56 - -77.86 - - 2877.38 - - - - - - - - - - -
3054.59 372.14 -9.60 390 3055.91 no move -1.22 - - 1844.00 - - - 2126.81 - -77.86 - - 2876.75 - - - - - - - - - - -
3354.65 402.38 -9.99 420 3360.41 roll -1.22 - - 1843.69 - 3.84 0.187 663.50 -381.1 -77.86 - - 2874.94 - - - - - - - - - 16.05 -
3399.67 408.04 -13.24 429 3404.29 roll -1.22 - - 1844.38 - 3.37 0.081 2127.12 434.3 -77.86 - - 2876.25 - - - - - - - - - 16.08 -
3709.73 439.32 -9.76 461 3715.45 roll -1.22 - - 1844.31 - 3.82 0.188 663.50 -383.1 -77.86 - - 2873.97 - - - - - - - - - 16.06 -
3754.75 444.64 -12.51 470 3759.36 roll -1.22 - - 1844.00 - 3.38 0.081 2127.50 433.1 -77.86 - - 2876.00 - - - - - - - - - 16.10 -
4064.81 473.10 -9.54 502 4066.14 no move -1.22 - - 1844.38 - - - 2127.88 - -77.86 - - 2874.00 - - - - - - - - - - -
4364.87 499.59 -9.01 532 4370.58 roll -1.22 - - 1844.19 - 3.87 0.190 662.25 -378.7 -77.86 - - 2871.84 - - - - - - - - - 16.07 -
4429.90 506.80 -11.23 545 4434.51 roll -1.22 - - 1844.06 - 3.40 0.085 2126.81 430.8 -77.86 - - 2873.97 - - - - - - - - - 16.11 -
4739.97 535.30 -9.12 577 4741.30 no move -1.22 - - 1843.94 - - - 2126.12 - -77.86 - - 2870.75 - - - - - - - - - - -
5040.02 563.24 -8.32 607 5041.35 no move -1.22 - - 1843.94 - - - 2126.62 - -77.86 - - 2869.34 - - - - - - - - - - -
5340.09 591.81 -9.88 637 5341.42 no move -1.22 - - 1844.25 - - - 2127.00 - -77.86 - - 2871.38 - - - - - - - - - - -
5640.13 619.97 -8.85 667 5645.86 roll -1.22 - - 1844.38 - 3.91 0.197 662.44 -374.6 -77.86 - - 2868.16 - - - - - - - - - 16.09 -
5685.22 624.50 -11.09 676 5689.77 roll -1.22 - - 1844.38 - 3.41 0.090 2125.81 429.1 -77.86 - - 2870.81 - - - - - - - - - 16.13 -
5995.32 651.85 -9.37 708 6000.90 roll -1.22 - - 1844.19 - 3.88 0.197 662.94 -377.0 -77.86 - - 2867.66 - - - - - - - - - 16.09 -
6074.18 660.46 -11.55 724 6080.89 roll -1.22 - - 1844.19 - 3.41 0.091 2125.31 428.8 -77.86 - - 2869.06 - - - - - - - - - 16.13 -
6380.23 685.86 -7.96 755 6381.55 no move -1.22 - - 1842.69 - - - 2125.00 - -77.86 - - 2869.56 - - - - - - - - - - -
6680.26 710.89 -7.83 785 6681.58 no move -1.22 - - 1844.00 - - - 2125.38 - -77.86 - - 2868.19 - - - - - - - - - - -
6980.29 737.80 -9.82 815 6981.62 no move -1.22 - - 1844.44 - - - 2126.06 - -77.86 - - 2868.22 - - - - - - - - - - -
7280.33 765.71 -10.10 845 7286.06 roll -1.22 - - 1844.12 - 3.92 0.202 661.94 -373.5 -77.86 - - 2865.50 - - - - - - - - - 16.10 -
7339.28 772.13 -11.05 857 7346.04 roll -1.22 - - 1844.19 - 3.42 0.094 2123.94 427.5 -77.86 - - 2866.88 - - - - - - - - - 16.15 -
7645.37 800.02 -9.41 888 7646.70 no move -1.22 - - 1843.56 - - - 2123.94 - -77.86 - - 2867.38 - - - - - - - - - - -
7945.41 826.32 -8.49 918 7946.73 no move -1.22 - - 1843.88 - - - 2123.88 - -77.86 - - 2865.09 - - - - - - - - - - -
8245.44 851.16 -8.11 948 8246.77 no move -1.22 - - 1843.69 - - - 2124.44 - -77.86 - - 2864.94 - - - - - - - - - - -
8545.48 875.57 -8.39 978 8551.21 roll -1.22 - - 1843.88 - 3.94 0.206 662.62 -371.0 -77.86 - - 2863.94 - - - - - - - - - 16.11 -
8594.43 880.32 -10.64 988 8601.19 roll -1.22 - - 1843.00 - 3.44 0.098 2125.44 425.2 -77.86 - - 2866.97 - - - - - - - - - 16.15 -
8900.53 904.59 -8.87 1019 8906.45 roll -1.22 - - 1844.25 - 3.95 0.207 663.44 -370.1 -77.86 - - 2865.59 - - - - - - - - - 16.10 -
8959.48 909.35 -8.85 1031 8966.24 roll -1.22 - - 1843.94 - 3.44 0.099 2123.56 424.5 -77.86 - - 2866.56 - - - - - - - - - 16.15 -
9265.57 933.55 -7.12 1062 9266.90 no move -1.22 - - 1844.31 - - - 2123.81 - -77.86 - - 2864.38 - - - - - - - - - - -
9565.62 957.04 -8.04 1092 9566.95 no move -1.22 - - 1844.19 - - - 2123.25 - -77.86 - - 2865.00 - - - - - - - - - - -
9865.68 980.53 -8.56 1122 9867.01 no move -1.22 - - 1843.56 - - - 2123.56 - -77.86 - - 2863.19 - - - - - - - - - - -
9995 end dive: TARGET_DEPTH_EXCEEDED
9995 begin apogee
9996.86 990.37 -9.10 1135 10063.42 -0.25 1.63 0.167 2080.12 145.1 0.05 0.394 2137.88 286.4 - 63.28 2.315 2557.34 -4.8 0.342 - - - - - - 16.10 15.62 13.27
10070 end apogee: CONTROL_FINISHED_OK
10070 begin climb
10070.60 991.33 - 1141 10150.04 1.22 2.39 0.104 2439.38 150.3 3.51 0.155 3471.62 380.0 77.86 71.75 2.261 2241.09 -4.4 0.319 - - - - - - 15.66 15.24 12.98
10221.68 981.66 8.97 1171 10228.44 roll 1.22 - - 2439.06 - 3.32 0.083 2135.25 -402.5 77.86 - - 2234.94 - - - - - - - - - 15.46 -
10527.83 955.51 7.98 1202 10529.16 VBD 1.22 - - 2439.31 - - - 2134.94 - 77.86 - - 2227.00 - - - - - - - - - - -
10827.88 929.39 7.68 1232 10829.22 VBD 1.22 - - 2438.81 - - - 2134.62 - 77.86 - - 2224.81 - - - - - - - - - - -
11127.95 904.10 8.92 1262 11129.28 VBD 1.22 - - 2439.25 - - - 2135.19 - 77.86 - - 2223.06 - - - - - - - - - - -
11428.04 879.70 7.47 1292 11429.37 VBD 1.22 - - 2439.00 - - - 2134.81 - 77.86 - - 2222.28 - - - - - - - - - - -
11728.08 855.07 8.35 1322 11729.41 VBD 1.22 - - 2438.88 - - - 2135.25 - 77.86 - - 2221.75 - - - - - - - - - - -
12028.12 831.92 7.32 1352 12029.45 VBD 1.22 - - 2439.12 - - - 2134.81 - 77.86 - - 2222.25 - - - - - - - - - - -
12328.16 809.50 7.57 1382 12329.49 VBD 1.22 - - 2439.25 - - - 2134.88 - 77.86 - - 2220.56 - - - - - - - - - - -
12628.20 788.34 6.87 1412 12632.73 done 1.24 - - 2439.06 - 3.32 0.151 3474.25 403.4 77.86 - - 2223.28 - - - - - - - - - 16.02 -
12712.08 782.05 8.28 1429 12719.01 done 1.24 - - 2439.31 - 3.18 0.083 2132.62 -421.9 77.86 - - 2223.25 - - - - - - - - - 16.04 -
13018.25 763.04 6.86 1460 13023.93 done 1.25 - - 2438.38 - 3.74 0.180 687.50 -386.4 77.86 - - 2221.06 - - - - - - - - - 16.02 -
13103.30 756.60 7.97 1477 13107.80 done 1.25 - - 2439.31 - 3.40 0.075 2169.00 435.7 77.86 - - 2219.22 - - - - - - - - - 16.05 -
13413.31 738.06 6.08 1509 13417.82 done 1.28 - - 2439.56 - 3.21 0.151 3474.38 406.7 77.86 - - 2219.66 - - - - - - - - - 16.05 -
13597.21 726.10 6.44 1546 13604.12 done 1.31 - - 2438.06 - 3.19 0.080 2131.38 -421.0 77.86 - - 2220.50 - - - - - - - - - 16.07 -
13903.38 708.23 5.93 1577 13904.81 1.34 0.16 0.127 2473.81 223.4 - - 2131.69 - 77.86 - - 2219.88 - - - - - - - - 16.06 - -
14203.41 688.55 6.49 1607 14209.01 done 1.37 - - 2473.75 - 3.73 0.176 686.94 -387.3 77.86 - - 2217.12 - - - - - - - - - 16.06 -
14292.27 680.05 9.97 1625 14299.13 done 1.37 - - 2474.06 - 3.41 0.074 2171.44 435.3 77.86 - - 2219.31 - - - - - - - - - 16.08 -
14598.45 658.99 7.21 1656 14599.78 VBD 1.37 - - 2473.94 - - - 2171.38 - 77.86 - - 2217.56 - - - - - - - - - - -
14898.49 638.35 6.41 1686 14899.83 VBD 1.39 - - 2473.56 - - - 2171.75 - 77.86 - - 2216.59 - - - - - - - - - - -
15198.53 619.28 6.13 1716 15199.86 VBD 1.42 - - 2474.06 - - - 2171.00 - 77.86 - - 2217.62 - - - - - - - - - - -
15498.57 602.26 5.14 1746 15530.87 1.54 0.23 0.108 2519.62 198.1 - - 2171.12 - 116.33 31.13 1.846 2082.72 -4.3 0.234 - - - - - - 16.09 - 13.32
15828.75 572.00 9.95 1779 15830.08 no move 1.54 - - 2520.31 - - - 2171.31 - 116.33 - - 2076.41 - - - - - - - - - - -
16128.67 543.51 9.49 1809 16133.19 done 1.54 - - 2518.75 - 3.22 0.148 3475.38 405.0 116.33 - - 2077.94 - - - - - - - - - 15.99 -
16268.72 528.37 10.45 1837 16273.24 done 1.54 - - 2520.31 - 3.19 0.080 2132.62 -420.9 116.33 - - 2076.44 - - - - - - - - - 16.01 -
16578.79 499.00 9.22 1869 16580.12 VBD 1.54 - - 2520.25 - - - 2133.50 - 116.33 - - 2076.41 - - - - - - - - - - -
16878.85 470.43 9.19 1899 16880.18 VBD 1.54 - - 2520.00 - - - 2133.75 - 116.33 - - 2074.75 - - - - - - - - - - -
17178.91 441.74 8.63 1929 17180.25 VBD 1.54 - - 2520.75 - - - 2133.38 - 116.33 - - 2074.25 - - - - - - - - - - -
17478.98 414.76 9.05 1959 17483.51 done 1.54 - - 2520.00 - 3.29 0.145 3475.75 408.0 116.33 - - 2076.03 - - - - - - - - - 16.05 -
17572.89 406.04 9.38 1978 17579.66 done 1.54 - - 2520.00 - 3.16 0.079 2129.50 -426.0 116.33 - - 2075.72 - - - - - - - - - 16.06 -
17879.08 381.97 8.04 2009 17880.42 VBD 1.54 - - 2520.50 - - - 2130.00 - 116.33 - - 2073.62 - - - - - - - - - - -
18179.14 360.25 7.22 2039 18180.47 VBD 1.54 - - 2520.88 - - - 2130.38 - 116.33 - - 2073.03 - - - - - - - - - - -
18479.15 337.86 7.78 2069 18480.49 VBD 1.54 - - 2520.50 - - - 2130.12 - 116.33 - - 2073.34 - - - - - - - - - - -
18779.20 314.56 8.09 2099 18783.72 done 1.54 - - 2521.56 - 3.29 0.142 3476.06 409.1 116.33 - - 2074.16 - - - - - - - - - 16.08 -
18879.23 306.19 8.34 2119 18883.74 done 1.54 - - 2521.06 - 3.13 0.075 2130.50 -429.9 116.33 - - 2074.94 - - - - - - - - - 16.08 -
19189.27 283.55 6.79 2151 19190.61 VBD 1.56 - - 2521.00 - - - 2129.81 - 116.33 - - 2072.66 - - - - - - - - - - -
19489.31 263.22 6.87 2181 19493.82 done 1.57 - - 2520.88 - 3.28 0.139 3474.12 409.9 116.33 - - 2074.50 - - - - - - - - - 16.09 -
19593.23 254.86 8.10 2202 19599.97 done 1.57 - - 2520.81 - 3.12 0.075 2129.75 -430.9 116.33 - - 2074.84 - - - - - - - - - 16.09 -
19899.37 234.23 6.25 2233 19900.70 VBD 1.60 - - 2521.19 - - - 2129.50 - 116.33 - - 2072.69 - - - - - - - - - - -
20199.39 216.31 5.74 2263 20203.92 done 1.64 - - 2520.44 - 3.27 0.137 3473.56 411.0 116.33 - - 2075.19 - - - - - - - - - 16.08 -
20363.29 205.67 6.74 2296 20370.21 done 1.66 - - 2521.06 - 3.13 0.073 2129.62 -429.4 116.33 - - 2074.16 - - - - - - - - - 16.11 -
20669.46 187.96 5.95 2327 20670.89 1.69 0.18 0.113 2558.94 210.4 - - 2128.88 - 116.33 - - 2073.97 - - - - - - - - 16.08 - -
20969.49 171.16 4.77 2357 21010.90 done 1.83 - - 2558.56 - 3.66 0.165 686.81 -394.0 160.34 35.67 1.349 1906.66 -4.7 0.098 - - - - - - - 15.88 13.26
21089.50 160.90 10.75 2381 21094.04 roll 1.83 - - 2560.44 - 3.39 0.068 2174.38 438.8 160.34 - - 1901.84 - - - - - - - - - 15.95 -
21399.53 134.13 8.04 2413 21400.86 VBD 1.83 - - 2560.19 - - - 2174.56 - 160.34 - - 1898.00 - - - - - - - - - - -
21699.57 115.21 5.04 2443 21740.29 1.95 0.31 0.097 2616.75 182.5 3.20 0.136 3475.50 406.5 200.33 32.67 1.264 1740.78 -4.8 0.072 - - - - - - 15.98 15.82 13.17
21749.77 112.21 5.57 2453 21781.78 done 2.04 - - 2616.50 - 3.16 0.069 2129.25 -426.0 232.20 26.84 1.211 1613.56 -4.7 0.073 - - - - - - - 15.87 13.16
22079.66 81.94 9.18 2509 22085.35 done 2.04 - - 2616.12 - 3.31 0.133 3474.00 406.3 232.20 - - 1604.72 - - - - - - - - - 15.84 -
22309.77 61.33 8.15 2555 22315.41 done 2.04 - - 2615.94 - 3.17 0.071 2130.00 -424.0 232.20 - - 1603.22 - - - - - - - - - 15.89 -
22494.86 49.24 6.22 2592 22500.56 2.07 0.16 0.120 2646.31 189.8 3.30 0.129 3473.62 407.2 232.20 - - 1603.53 - - - - - - - - 15.91 15.84 -
22726.25 39.18 2.59 2638 22793.05 2.30 0.31 0.104 2701.19 177.0 3.16 0.067 2126.50 -426.3 309.28 60.35 1.171 1298.06 -5.1 0.028 - - - - - - 15.91 15.94 13.13
22971.04 26.61 4.95 2687 23011.91 2.43 0.17 0.127 2732.88 186.4 3.34 0.127 3474.62 403.6 350.67 33.40 1.103 1129.59 -5.0 0.020 - - - - - - 15.77 15.64 13.03
23236.11 7.00 10.67 2740 23241.76 roll 2.43 - - 2733.75 - 3.19 0.066 2128.94 -421.8 350.67 - - 1125.47 - - - - - - - - - 15.77 -
23291 end climb: SURFACE_DEPTH_REACHED
23291 begin surface coast
23311 end surface coast: CONTROL_FINISHED_OK
23311 begin surface
SM 0.42 - - - - 181.4 - - 827.4 - 16.60 0.099 830.8 50.0 - 0.06 0.207 823.9 13678.5 -2.837 - - 30.00 15.76 15.79 -