NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 436 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 129.24 of 575.00 AH used of 24V (77.52% remains)
• Surface angle -60.1 deg, depth 0.53 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 425.05 (SM_CC=425)
• GPS1 time: 45 s
• GPS2 time: 4 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
7.04 - - - 90.64 VBD -1.25 - - 171.56 - - - 2116.69 - -77.86 83.08 0.005 2551.62 - - - - - - - - - - 15.33
90.92 3.40 -4.16 16 122.72 -1.25 14.46 0.259 1835.81 115.1 4.22 0.160 663.50 -344.4 -77.86 6.59 0.008 2815.94 40.1 -2.922 - - - - - - 15.46 15.35 15.39
135.52 13.19 -17.60 25 141.22 roll -1.25 - - 1835.50 - 3.58 0.054 2119.62 406.7 -77.86 - - 2816.25 - - - - - - - - - 15.59 -
320.52 46.42 -14.74 62 326.29 roll -1.25 - - 1834.38 - 3.69 0.115 3472.88 366.7 -77.86 - - 2817.78 - - - - - - - - - 15.67 -
395.54 58.38 -17.65 77 401.28 roll -1.25 - - 1835.50 - 3.41 0.059 2081.38 -408.1 -77.86 - - 2817.38 - - - - - - - - - 15.71 -
580.57 85.63 -12.27 114 586.37 roll -1.25 - - 1836.00 - 3.76 0.112 3473.81 370.3 -77.86 - - 2818.69 - - - - - - - - - 15.76 -
645.61 94.79 -14.93 127 651.33 roll -1.25 - - 1835.62 - 3.40 0.059 2081.50 -409.5 -77.86 - - 2818.78 - - - - - - - - - 15.77 -
830.65 117.03 -12.31 150 836.36 roll -1.25 - - 1835.88 - 3.72 0.111 3474.75 374.5 -77.86 - - 2815.28 - - - - - - - - - 15.81 -
899.61 126.11 -12.55 164 906.48 roll -1.25 - - 1836.12 - 3.39 0.058 2081.25 -411.1 -77.86 - - 2817.56 - - - - - - - - - 15.82 -
1205.74 160.22 -12.23 195 1211.49 roll -1.25 - - 1836.12 - 3.94 0.153 663.56 -359.8 -77.86 - - 2816.03 - - - - - - - - - 15.81 -
1374.68 185.16 -13.74 229 1381.57 roll -1.25 - - 1835.69 - 3.51 0.055 2119.12 414.7 -77.86 - - 2818.56 - - - - - - - - - 15.86 -
1680.87 219.81 -10.64 260 1682.19 no move -1.25 - - 1835.44 - - - 2118.69 - -77.86 - - 2817.12 - - - - - - - - - - -
1980.93 251.84 -10.68 290 1986.69 roll -1.25 - - 1835.56 - 4.06 0.152 662.25 -358.7 -77.86 - - 2816.78 - - - - - - - - - 15.86 -
2046.02 260.22 -12.43 303 2050.61 roll -1.25 - - 1836.50 - 3.49 0.056 2116.50 416.7 -77.86 - - 2819.34 - - - - - - - - - 15.90 -
2356.01 292.47 -9.18 335 2361.78 roll -1.25 - - 1835.75 - 4.05 0.152 662.56 -359.0 -77.86 - - 2817.38 - - - - - - - - - 15.87 -
2391.03 296.31 -10.98 342 2395.68 roll -1.25 - - 1835.69 - 3.50 0.054 2119.25 416.2 -77.86 - - 2816.88 - - - - - - - - - 15.91 -
2701.09 325.96 -9.70 374 2702.42 no move -1.25 - - 1836.19 - - - 2119.12 - -77.86 - - 2817.41 - - - - - - - - - - -
3001.13 357.94 -10.55 404 3002.45 no move -1.25 - - 1836.00 - - - 2118.81 - -77.86 - - 2817.19 - - - - - - - - - - -
3301.15 389.26 -9.35 434 3302.47 no move -1.25 - - 1835.62 - - - 2119.38 - -77.86 - - 2817.34 - - - - - - - - - - -
3601.18 419.26 -10.61 464 3606.97 roll -1.25 - - 1836.06 - 4.11 0.158 664.38 -354.0 -77.86 - - 2819.41 - - - - - - - - - 15.88 -
3646.21 424.67 -12.51 473 3650.87 roll -1.25 - - 1836.06 - 3.54 0.058 2117.56 410.5 -77.86 - - 2815.19 - - - - - - - - - 15.94 -
3956.23 456.51 -9.92 505 3957.56 no move -1.25 - - 1836.19 - - - 2119.25 - -77.86 - - 2817.00 - - - - - - - - - - -
4256.26 490.04 -10.17 535 4257.58 no move -1.25 - - 1836.12 - - - 2119.31 - -77.86 - - 2816.91 - - - - - - - - - - -
4556.29 519.21 -9.73 565 4557.62 no move -1.25 - - 1835.62 - - - 2118.62 - -77.86 - - 2814.56 - - - - - - - - - - -
4856.33 548.48 -10.20 595 4862.12 roll -1.25 - - 1835.81 - 4.15 0.164 664.62 -350.4 -77.86 - - 2813.72 - - - - - - - - - 15.88 -
4891.34 552.36 -11.06 602 4896.02 roll -1.25 - - 1835.56 - 3.52 0.060 2117.94 412.9 -77.86 - - 2815.47 - - - - - - - - - 15.94 -
5201.37 582.00 -9.62 634 5202.70 no move -1.25 - - 1835.81 - - - 2118.25 - -77.86 - - 2815.28 - - - - - - - - - - -
5501.40 606.88 -8.13 664 5502.73 no move -1.25 - - 1835.62 - - - 2118.25 - -77.86 - - 2815.22 - - - - - - - - - - -
5801.44 631.56 -9.03 694 5807.24 roll -1.25 - - 1834.38 - 4.18 0.168 663.50 -348.0 -77.86 - - 2814.50 - - - - - - - - - 15.87 -
5880.37 639.17 -9.29 710 5887.22 roll -1.25 - - 1835.69 - 3.56 0.065 2118.56 408.7 -77.86 - - 2813.69 - - - - - - - - - 15.94 -
6186.49 667.71 -9.44 741 6187.82 no move -1.25 - - 1835.69 - - - 2118.06 - -77.86 - - 2814.34 - - - - - - - - - - -
6486.52 694.77 -9.02 771 6492.31 roll -1.25 - - 1835.31 - 4.17 0.169 663.50 -348.8 -77.86 - - 2812.84 - - - - - - - - - 15.86 -
6565.45 703.03 -11.99 787 6572.30 roll -1.25 - - 1835.25 - 3.55 0.064 2117.62 409.6 -77.86 - - 2813.16 - - - - - - - - - 15.94 -
6871.57 728.91 -8.75 818 6872.90 no move -1.25 - - 1835.69 - - - 2118.06 - -77.86 - - 2812.09 - - - - - - - - - - -
7171.63 753.38 -7.81 848 7177.41 roll -1.25 - - 1836.19 - 4.17 0.170 663.31 -348.9 -77.86 - - 2810.91 - - - - - - - - - 15.86 -
7220.62 758.59 -11.04 858 7227.41 roll -1.25 - - 1835.88 - 3.57 0.066 2117.06 407.2 -77.86 - - 2812.34 - - - - - - - - - 15.93 -
7526.71 785.40 -9.04 889 7532.50 roll -1.25 - - 1835.69 - 4.20 0.171 663.50 -346.1 -77.86 - - 2811.25 - - - - - - - - - 15.85 -
7571.76 789.86 -10.60 898 7577.55 roll -1.25 - - 1834.31 - 3.58 0.065 2115.50 405.6 -77.86 - - 2812.44 - - - - - - - - - 15.92 -
7876.80 817.92 -8.60 929 7878.13 no move -1.25 - - 1835.50 - - - 2116.62 - -77.86 - - 2811.28 - - - - - - - - - - -
8176.85 844.11 -8.81 959 8182.57 roll -1.25 - - 1835.12 - 3.70 0.134 3473.94 366.8 -77.86 - - 2812.25 - - - - - - - - - 15.90 -
8231.89 849.20 -11.07 970 8236.53 roll -1.25 - - 1836.25 - 3.42 0.072 2084.75 -406.2 -77.86 - - 2811.84 - - - - - - - - - 15.92 -
8541.94 874.80 -6.13 1002 8543.27 no move -1.25 - - 1835.69 - - - 2084.00 - -77.86 - - 2809.88 - - - - - - - - - - -
8842.00 897.02 -7.47 1032 8843.33 no move -1.25 - - 1835.94 - - - 2084.62 - -77.86 - - 2811.53 - - - - - - - - - - -
9142.07 918.29 -7.38 1062 9143.39 no move -1.25 - - 1835.81 - - - 2084.38 - -77.86 - - 2811.59 - - - - - - - - - - -
9442.10 939.20 -6.09 1092 9443.43 no move -1.25 - - 1835.38 - - - 2084.44 - -77.86 - - 2808.97 - - - - - - - - - - -
9742.15 948.04 -2.04 1122 9747.90 roll -1.25 - - 1835.69 - 4.09 0.176 663.38 -347.4 -77.86 - - 2811.97 - - - - - - - - - 15.83 -
9961 end dive: NO_VERTICAL_VELOCITY
9961 begin apogee
9966.71 947.82 - 1166 10036.05 -0.25 1.72 0.113 2081.75 143.1 0.07 0.310 2187.44 21772.3 - 65.94 2.248 2498.44 -4.8 0.344 - - - - - - 15.88 15.12 12.23
10037 end apogee: CONTROL_FINISHED_OK
10037 begin climb
10037.97 947.32 - 1173 10122.66 1.25 2.62 0.085 2446.69 139.3 3.82 0.134 3472.38 336.4 77.86 74.32 2.169 2182.03 -4.3 0.319 - - - - - - 15.20 14.82 12.33
10344.31 922.93 11.58 1234 10351.18 done 1.25 - - 2446.88 - 3.30 0.067 2183.25 -390.6 77.86 - - 2172.56 - - - - - - - - - 15.47 -
10650.51 897.67 7.06 1265 10651.84 VBD 1.28 - - 2446.75 - - - 2183.69 - 77.86 - - 2169.75 - - - - - - - - - - -
10950.55 875.89 5.55 1295 10991.52 1.39 0.19 0.105 2486.69 210.2 3.67 0.134 3470.12 350.5 113.54 32.60 2.062 2035.94 -4.1 0.299 - - - - - - 15.73 15.32 12.39
11070.56 862.82 12.13 1319 11075.24 roll 1.39 - - 2486.12 - 3.27 0.067 2182.88 -393.7 113.54 - - 2032.06 - - - - - - - - - 15.50 -
11380.60 825.93 11.94 1351 11381.93 VBD 1.39 - - 2486.94 - - - 2182.94 - 113.54 - - 2028.19 - - - - - - - - - - -
11680.66 792.78 9.83 1381 11686.27 done 1.39 - - 2485.94 - 3.56 0.131 3472.44 362.2 113.54 - - 2028.25 - - - - - - - - - 15.75 -
11789.68 780.45 11.42 1403 11796.42 done 1.39 - - 2486.81 - 3.22 0.066 2183.00 -400.4 113.54 - - 2028.03 - - - - - - - - - 15.76 -
12095.77 749.40 9.52 1434 12097.11 VBD 1.39 - - 2486.69 - - - 2183.50 - 113.54 - - 2025.50 - - - - - - - - - - -
12395.83 719.98 10.76 1464 12397.16 VBD 1.39 - - 2487.06 - - - 2183.50 - 113.54 - - 2025.19 - - - - - - - - - - -
12695.89 687.91 11.10 1494 12701.52 done 1.39 - - 2484.50 - 3.52 0.132 3473.62 366.5 113.54 - - 2026.16 - - - - - - - - - 15.83 -
12800.93 676.21 12.70 1515 12805.46 done 1.39 - - 2486.94 - 3.19 0.065 2180.06 -405.5 113.54 - - 2025.84 - - - - - - - - - 15.86 -
13111.00 643.49 11.46 1547 13116.75 done 1.39 - - 2486.06 - 3.98 0.146 736.56 -362.7 113.54 - - 2024.19 - - - - - - - - - 15.84 -
13186.09 633.94 12.49 1562 13191.63 done 1.39 - - 2486.31 - 3.58 0.061 2220.31 414.5 113.54 - - 2022.00 - - - - - - - - - 15.87 -
13491.08 601.92 8.93 1593 13495.64 done 1.39 - - 2487.00 - 3.39 0.129 3473.25 369.6 113.54 - - 2024.50 - - - - - - - - - 15.87 -
13651.12 585.30 10.37 1625 13655.93 done 1.39 - - 2486.44 - 3.16 0.063 2177.69 -410.0 113.54 - - 2023.28 - - - - - - - - - 15.87 -
13961.16 561.08 8.00 1657 13962.50 VBD 1.39 - - 2487.12 - - - 2178.00 - 113.54 - - 2022.41 - - - - - - - - - - -
14261.19 535.53 8.42 1687 14262.53 VBD 1.39 - - 2486.94 - - - 2178.00 - 113.54 - - 2023.44 - - - - - - - - - - -
14561.23 508.66 9.58 1717 14566.98 done 1.39 - - 2486.69 - 3.51 0.125 3473.44 369.1 113.54 - - 2022.91 - - - - - - - - - 15.88 -
14660.23 498.48 10.78 1737 14666.94 done 1.39 - - 2486.50 - 3.16 0.061 2180.44 -409.2 113.54 - - 2023.91 - - - - - - - - - 15.89 -
14966.28 468.64 9.36 1768 14967.62 VBD 1.39 - - 2486.75 - - - 2179.75 - 113.54 - - 2023.19 - - - - - - - - - - -
15266.33 442.76 7.47 1798 15272.06 done 1.41 - - 2486.56 - 3.98 0.140 735.12 -363.0 113.54 - - 2021.81 - - - - - - - - - 15.82 -
15315.26 438.57 8.75 1808 15322.08 done 1.41 - - 2485.25 - 3.59 0.057 2223.12 414.5 113.54 - - 2023.00 - - - - - - - - - 15.85 -
15621.38 416.58 7.93 1839 15622.71 VBD 1.41 - - 2486.75 - - - 2223.00 - 113.54 - - 2022.34 - - - - - - - - - - -
15921.39 392.10 7.70 1869 15927.16 done 1.41 - - 2487.62 - 4.09 0.137 736.38 -363.5 113.54 - - 2024.44 - - - - - - - - - 15.82 -
15960.25 388.64 8.66 1877 15967.16 done 1.41 - - 2487.50 - 3.59 0.058 2222.81 414.0 113.54 - - 2024.03 - - - - - - - - - 15.88 -
16266.44 364.27 8.19 1908 16271.14 done 1.41 - - 2487.00 - 3.40 0.122 3472.38 367.5 113.54 - - 2022.31 - - - - - - - - - 15.87 -
16380.51 354.70 8.91 1931 16387.15 done 1.41 - - 2487.06 - 3.16 0.058 2178.25 -409.5 113.54 - - 2023.56 - - - - - - - - - 15.87 -
16686.51 333.10 7.21 1962 16687.84 VBD 1.43 - - 2487.31 - - - 2178.44 - 113.54 - - 2022.44 - - - - - - - - - - -
16986.55 311.40 6.75 1992 16992.14 done 1.47 - - 2487.06 - 3.51 0.119 3473.38 368.9 113.54 - - 2021.56 - - - - - - - - - 15.88 -
17085.53 303.18 8.39 2012 17092.24 done 1.47 - - 2486.88 - 3.15 0.058 2179.06 -410.9 113.54 - - 2023.94 - - - - - - - - - 15.85 -
17391.61 282.23 6.87 2043 17396.31 done 1.51 - - 2487.56 - 3.49 0.118 3473.25 370.8 113.54 - - 2023.38 - - - - - - - - - 15.88 -
17555.64 268.45 8.13 2076 17562.34 done 1.51 - - 2487.25 - 3.16 0.057 2179.56 -409.4 113.54 - - 2023.47 - - - - - - - - - 15.88 -
17861.76 246.21 7.38 2107 17867.60 done 1.53 - - 2486.56 - 3.96 0.135 736.62 -364.4 113.54 - - 2023.62 - - - - - - - - - 15.79 -
17940.66 239.33 8.86 2123 17947.53 done 1.53 - - 2487.69 - 3.57 0.055 2223.81 416.6 113.54 - - 2022.06 - - - - - - - - - 15.88 -
18246.83 219.17 6.35 2154 18252.71 1.58 0.22 0.086 2531.94 201.1 4.09 0.131 735.62 -363.9 113.54 - - 2020.47 - - - - - - - - 15.87 15.84 -
18345.76 210.48 9.08 2174 18352.62 done 1.58 - - 2532.00 - 3.60 0.055 2224.12 413.5 113.54 - - 2022.28 - - - - - - - - - 15.83 -
18651.93 191.66 5.68 2205 18687.28 done 1.68 - - 2532.25 - 4.14 0.130 736.44 -359.3 147.35 28.28 1.315 1899.59 -4.3 0.108 - - - - - - - 15.62 12.33
18721.94 186.97 7.01 2219 18727.55 roll 1.71 - - 2531.81 - 3.60 0.054 2223.12 413.0 147.35 - - 1893.47 - - - - - - - - - 15.71 -
19027.00 161.50 8.62 2250 19032.85 roll 1.71 - - 2529.75 - 4.11 0.129 735.38 -362.0 147.35 - - 1893.19 - - - - - - - - - 15.73 -
19256.06 137.54 10.56 2296 19262.85 roll 1.71 - - 2532.12 - 3.63 0.056 2225.56 410.5 147.35 - - 1893.31 - - - - - - - - - 15.74 -
19562.12 109.20 7.91 2327 19567.87 roll 1.71 - - 2530.81 - 4.10 0.127 735.31 -363.5 147.35 - - 1892.56 - - - - - - - - - 15.75 -
19607.14 105.61 7.98 2336 19612.82 roll 1.71 - - 2531.88 - 3.58 0.052 2224.25 415.9 147.35 - - 1890.38 - - - - - - - - - 15.80 -
19912.20 87.65 4.73 2389 19958.90 1.85 0.37 0.069 2600.44 185.3 3.45 0.116 3473.94 362.2 194.76 40.17 1.196 1703.81 -4.6 0.058 - - - - - - 15.81 15.50 12.31
19962.31 85.24 4.71 2399 20008.85 done 1.99 - - 2600.56 - 3.21 0.052 2177.44 -403.9 242.47 40.51 1.153 1511.03 -4.8 0.060 - - - - - - - 15.58 12.51
20187.23 63.11 8.04 2444 20193.07 roll 1.99 - - 2600.00 - 4.03 0.130 735.75 -357.7 242.47 - - 1505.88 - - - - - - - - - 15.54 -
20417.31 49.07 5.60 2490 20453.79 2.10 0.32 0.070 2660.19 188.1 3.64 0.053 2223.81 408.8 277.39 29.56 1.104 1369.22 -4.6 0.035 - - - - - - 15.62 15.66 12.37
20632.31 28.41 11.66 2533 20633.64 no move 2.10 - - 2660.44 - - - 2223.56 - 277.39 - - 1364.47 - - - - - - - - - - -
20812.36 10.67 15.78 2569 20813.69 no move 2.10 - - 2660.50 - - - 2224.06 - 277.39 - - 1363.19 - - - - - - - - - - -
20887 end climb: SURFACE_DEPTH_REACHED
20887 begin surface coast
20907 end surface coast: CONTROL_FINISHED_OK
20907 begin surface
SM 0.87 - - - - 181.1 125.87 1.069 767.2 6.1 16.95 0.078 776.3 45.8 - 0.34 0.095 758.1 2229.7 -2.087 - - 12.33 15.68 15.72 -