NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 484 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 144.32 of 575.00 AH used of 24V (74.90% remains)
• Surface angle -58.4 deg, depth 1.10 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.95 (SM_CC=425)
• GPS1 time: 34 s
• GPS2 time: 3 s • Transponder ping count: 4
• 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
7.18 - - - 81.17 VBD -1.25 - - 175.38 - - - 2123.81 - -77.86 73.36 0.005 2362.25 - - - - - - - - - - 15.21
81.43 3.20 -3.62 14 118.44 -1.25 14.33 0.257 1835.81 115.9 3.76 0.116 3473.81 359.0 -77.86 12.18 0.007 2815.72 37.2 -2.959 - - - - - - 15.41 15.21 15.29
271.22 40.71 -19.02 52 276.99 roll -1.25 - - 1836.12 - 3.45 0.061 2082.31 -403.3 -77.86 - - 2816.12 - - - - - - - - - 15.62 -
456.26 76.95 -19.26 89 457.59 no move -1.25 - - 1835.88 - - - 2082.62 - -77.86 - - 2816.66 - - - - - - - - - - -
641.32 103.31 -13.28 124 647.14 roll -1.25 - - 1836.12 - 4.05 0.153 663.31 -350.4 -77.86 - - 2815.97 - - - - - - - - - 15.66 -
700.26 112.19 -15.46 136 707.09 roll -1.25 - - 1835.50 - 3.58 0.052 2118.06 406.4 -77.86 - - 2817.59 - - - - - - - - - 15.74 -
1006.36 147.17 -10.73 167 1011.99 roll -1.25 - - 1835.69 - 3.69 0.112 3473.50 367.3 -77.86 - - 2816.62 - - - - - - - - - 15.76 -
1071.39 155.03 -12.23 180 1075.94 roll -1.25 - - 1835.88 - 3.38 0.056 2082.12 -411.7 -77.86 - - 2818.31 - - - - - - - - - 15.78 -
1381.42 184.21 -8.68 212 1382.75 no move -1.25 - - 1835.62 - - - 2081.38 - -77.86 - - 2815.50 - - - - - - - - - - -
1681.45 212.83 -9.84 242 1687.26 roll -1.25 - - 1834.81 - 3.98 0.154 663.38 -356.3 -77.86 - - 2820.12 - - - - - - - - - 15.75 -
1730.39 218.71 -12.31 252 1737.22 roll -1.25 - - 1836.19 - 3.53 0.050 2119.12 412.4 -77.86 - - 2817.41 - - - - - - - - - 15.84 -
2036.49 250.39 -10.93 283 2037.82 no move -1.25 - - 1835.88 - - - 2119.56 - -77.86 - - 2815.75 - - - - - - - - - - -
2336.53 282.28 -10.98 313 2337.86 no move -1.25 - - 1836.12 - - - 2119.44 - -77.86 - - 2817.25 - - - - - - - - - - -
2636.56 313.69 -10.34 343 2642.19 roll -1.25 - - 1835.50 - 3.67 0.114 3475.56 369.5 -77.86 - - 2818.72 - - - - - - - - - 15.84 -
2695.43 320.57 -12.29 355 2702.30 roll -1.25 - - 1835.81 - 3.37 0.058 2082.19 -413.5 -77.86 - - 2817.31 - - - - - - - - - 15.86 -
3001.61 352.15 -10.37 386 3002.93 no move -1.25 - - 1835.38 - - - 2082.50 - -77.86 - - 2817.19 - - - - - - - - - - -
3301.64 383.18 -10.00 416 3302.97 no move -1.25 - - 1835.69 - - - 2082.06 - -77.86 - - 2817.56 - - - - - - - - - - -
3601.71 413.22 -9.80 446 3603.04 no move -1.25 - - 1835.62 - - - 2081.94 - -77.86 - - 2817.12 - - - - - - - - - - -
3901.78 442.45 -9.09 476 3907.44 roll -1.25 - - 1835.75 - 3.83 0.115 3473.44 363.3 -77.86 - - 2818.81 - - - - - - - - - 15.85 -
3956.82 447.97 -9.52 487 3961.37 roll -1.25 - - 1836.00 - 3.39 0.061 2082.94 -410.2 -77.86 - - 2817.31 - - - - - - - - - 15.88 -
4266.88 476.54 -8.64 519 4272.71 roll -1.25 - - 1835.31 - 3.95 0.159 663.31 -359.4 -77.86 - - 2814.78 - - - - - - - - - 15.77 -
4355.81 486.38 -11.37 537 4362.67 roll -1.25 - - 1835.75 - 3.54 0.052 2119.62 411.4 -77.86 - - 2815.56 - - - - - - - - - 15.89 -
4661.98 514.06 -9.48 568 4663.31 no move -1.25 - - 1835.75 - - - 2119.50 - -77.86 - - 2814.41 - - - - - - - - - - -
4962.04 540.18 -8.74 598 4967.87 roll -1.25 - - 1836.00 - 4.10 0.159 663.31 -355.2 -77.86 - - 2814.50 - - - - - - - - - 15.77 -
5001.06 543.69 -8.76 606 5007.82 roll -1.25 - - 1834.88 - 3.53 0.053 2117.31 411.9 -77.86 - - 2817.94 - - - - - - - - - 15.88 -
5307.13 571.02 -8.99 637 5308.46 no move -1.25 - - 1835.50 - - - 2117.06 - -77.86 - - 2813.78 - - - - - - - - - - -
5607.17 597.76 -9.16 667 5613.02 roll -1.25 - - 1835.50 - 4.14 0.161 663.06 -351.2 -77.86 - - 2812.94 - - - - - - - - - 15.75 -
5672.26 604.04 -9.17 680 5676.92 roll -1.25 - - 1836.12 - 3.55 0.056 2115.50 409.1 -77.86 - - 2812.81 - - - - - - - - - 15.88 -
5982.22 630.37 -8.22 712 5988.08 roll -1.25 - - 1834.69 - 4.14 0.162 664.50 -350.5 -77.86 - - 2817.12 - - - - - - - - - 15.75 -
6021.22 633.88 -8.78 720 6028.13 roll -1.25 - - 1835.44 - 3.53 0.055 2118.75 412.0 -77.86 - - 2814.19 - - - - - - - - - 15.87 -
6327.26 658.25 -7.35 751 6333.10 roll -1.25 - - 1835.56 - 4.12 0.163 664.19 -353.0 -77.86 - - 2812.44 - - - - - - - - - 15.74 -
6382.34 663.41 -9.67 762 6387.01 roll -1.25 - - 1835.50 - 3.52 0.056 2119.25 413.4 -77.86 - - 2814.09 - - - - - - - - - 15.87 -
6692.30 687.65 -8.35 794 6697.93 roll -1.25 - - 1836.19 - 3.65 0.121 3472.38 370.7 -77.86 - - 2816.16 - - - - - - - - - 15.81 -
6737.32 691.05 -8.47 803 6741.89 roll -1.25 - - 1835.88 - 3.37 0.062 2083.31 -412.2 -77.86 - - 2813.75 - - - - - - - - - 15.87 -
7047.34 714.86 -7.19 835 7053.00 roll -1.25 - - 1835.88 - 3.82 0.120 3474.56 364.2 -77.86 - - 2811.78 - - - - - - - - - 15.81 -
7096.20 719.46 -8.45 845 7103.08 roll -1.25 - - 1836.06 - 3.38 0.064 2082.88 -411.7 -77.86 - - 2813.31 - - - - - - - - - 15.86 -
7402.38 744.22 -7.63 876 7408.21 roll -1.25 - - 1835.69 - 4.01 0.169 663.50 -354.0 -77.86 - - 2813.22 - - - - - - - - - 15.73 -
7507.40 754.35 -10.24 897 7512.15 roll -1.25 - - 1835.56 - 3.55 0.057 2116.56 409.3 -77.86 - - 2813.94 - - - - - - - - - 15.87 -
7817.44 779.31 -8.36 929 7818.77 no move -1.25 - - 1835.44 - - - 2116.38 - -77.86 - - 2812.66 - - - - - - - - - - -
8117.47 804.29 -7.97 959 8123.32 roll -1.25 - - 1835.88 - 4.16 0.168 663.19 -349.3 -77.86 - - 2810.47 - - - - - - - - - 15.72 -
8196.39 812.68 -10.63 975 8203.25 roll -1.25 - - 1836.19 - 3.58 0.059 2116.62 406.0 -77.86 - - 2812.00 - - - - - - - - - 15.86 -
8502.53 837.96 -6.81 1006 8508.17 roll -1.25 - - 1835.88 - 3.71 0.123 3472.50 365.5 -77.86 - - 2813.38 - - - - - - - - - 15.79 -
8557.54 843.61 -9.30 1017 8562.10 roll -1.25 - - 1835.81 - 3.38 0.065 2083.81 -410.9 -77.86 - - 2813.16 - - - - - - - - - 15.85 -
8867.56 869.68 -10.07 1049 8873.42 roll -1.25 - - 1835.88 - 4.07 0.171 663.44 -349.0 -77.86 - - 2812.16 - - - - - - - - - 15.70 -
8982.58 881.17 -9.81 1072 8987.33 roll -1.25 - - 1836.19 - 3.57 0.061 2116.38 407.0 -77.86 - - 2811.38 - - - - - - - - - 15.87 -
9292.62 906.27 -8.15 1104 9298.47 roll -1.25 - - 1836.25 - 4.18 0.169 664.56 -347.3 -77.86 - - 2809.09 - - - - - - - - - 15.70 -
9327.64 909.57 -9.24 1111 9332.37 roll -1.25 - - 1835.81 - 3.54 0.060 2117.25 410.4 -77.86 - - 2810.81 - - - - - - - - - 15.86 -
9637.69 934.11 -7.98 1143 9643.31 roll -1.25 - - 1835.19 - 3.68 0.125 3472.50 368.3 -77.86 - - 2808.75 - - - - - - - - - 15.78 -
9672.71 937.43 -9.49 1150 9677.26 roll -1.25 - - 1834.56 - 3.36 0.066 2085.81 -412.7 -77.86 - - 2813.25 - - - - - - - - - 15.84 -
9982.77 961.17 -7.55 1182 9988.60 roll -1.25 - - 1836.12 - 4.07 0.176 664.62 -349.2 -77.86 - - 2809.38 - - - - - - - - - 15.68 -
10031.78 965.82 -8.93 1192 10038.54 roll -1.25 - - 1834.94 - 3.54 0.061 2115.94 410.0 -77.86 - - 2813.06 - - - - - - - - - 15.86 -
10337.86 989.30 -7.04 1223 10343.61 roll -1.25 - - 1835.38 - 3.69 0.126 3474.50 368.2 -77.86 - - 2811.84 - - - - - - - - - 15.78 -
10352 end dive: TARGET_DEPTH_EXCEEDED
10352 begin apogee
10357.68 990.64 -8.68 1226 10428.76 -0.25 1.83 0.157 2081.00 134.2 0.06 0.317 2212.62 -21031.3 - 67.97 2.268 2497.47 -4.6 0.351 - - - - - - 15.75 15.05 11.99
10430 end apogee: CONTROL_FINISHED_OK
10430 begin climb
10430.78 992.48 - 1233 10511.31 1.25 2.65 0.092 2448.31 138.6 - - 2213.00 - 77.86 75.92 2.211 2180.59 -4.2 0.326 - - - - - - 15.14 - 12.23
10804.11 961.77 9.49 1272 10809.72 done 1.25 - - 2447.38 - 3.55 0.127 3472.56 354.8 77.86 - - 2168.56 - - - - - - - - - 15.47 -
10902.99 951.03 10.94 1292 10909.86 done 1.25 - - 2447.75 - 3.17 0.061 2182.81 -406.9 77.86 - - 2171.69 - - - - - - - - - 15.55 -
11209.18 922.49 9.83 1323 11214.79 done 1.25 - - 2446.31 - 3.60 0.124 3472.12 358.1 77.86 - - 2170.12 - - - - - - - - - 15.64 -
11278.06 915.34 10.62 1337 11284.89 done 1.25 - - 2447.81 - 3.17 0.061 2182.50 -406.8 77.86 - - 2168.97 - - - - - - - - - 15.69 -
11584.24 888.93 8.57 1368 11585.57 VBD 1.25 - - 2447.69 - - - 2182.06 - 77.86 - - 2167.12 - - - - - - - - - - -
11884.27 864.44 7.63 1398 11890.10 done 1.25 - - 2447.56 - 4.01 0.146 737.25 -360.3 77.86 - - 2166.62 - - - - - - - - - 15.69 -
11999.30 853.08 9.62 1421 12004.92 done 1.25 - - 2447.31 - 3.60 0.055 2220.12 411.9 77.86 - - 2162.44 - - - - - - - - - 15.70 -
12304.34 826.84 7.94 1452 12308.91 done 1.25 - - 2447.88 - 3.47 0.126 3474.19 361.4 77.86 - - 2166.91 - - - - - - - - - 15.74 -
12408.27 817.23 9.10 1473 12415.05 done 1.25 - - 2446.12 - 3.15 0.060 2180.88 -410.6 77.86 - - 2166.88 - - - - - - - - - 15.79 -
12714.39 790.40 9.22 1504 12720.13 done 1.25 - - 2447.81 - 3.57 0.123 3472.50 361.8 77.86 - - 2166.16 - - - - - - - - - 15.76 -
12723.51 789.68 9.01 1506 12730.08 done 1.25 - - 2447.94 - 3.11 0.057 2180.88 -415.3 77.86 - - 2163.88 - - - - - - - - - 15.78 -
13029.42 761.62 9.51 1537 13035.24 done 1.25 - - 2446.38 - 3.98 0.142 737.31 -362.7 77.86 - - 2165.31 - - - - - - - - - 15.73 -
13044.44 760.17 9.28 1540 13050.03 done 1.25 - - 2447.56 - 3.56 0.051 2219.81 416.4 77.86 - - 2160.91 - - - - - - - - - 15.80 -
13349.48 732.90 9.41 1571 13350.81 VBD 1.25 - - 2447.94 - - - 2219.44 - 77.86 - - 2160.78 - - - - - - - - - - -
13649.50 708.05 8.24 1601 13655.33 done 1.25 - - 2447.75 - 4.09 0.141 736.31 -362.6 77.86 - - 2162.69 - - - - - - - - - 15.72 -
13704.58 703.00 9.65 1612 13710.25 done 1.25 - - 2447.50 - 3.58 0.054 2219.81 414.4 77.86 - - 2162.59 - - - - - - - - - 15.81 -
14009.56 680.43 6.71 1643 14014.12 done 1.29 - - 2447.50 - 3.44 0.125 3474.44 364.7 77.86 - - 2164.00 - - - - - - - - - 15.76 -
14083.44 674.92 7.71 1658 14090.38 done 1.29 - - 2447.38 - 3.11 0.058 2179.38 -416.4 77.86 - - 2163.00 - - - - - - - - - 15.82 -
14389.60 654.54 6.57 1689 14390.94 VBD 1.34 - - 2447.81 - - - 2179.19 - 77.86 - - 2160.00 - - - - - - - - - - -
14689.64 633.65 7.20 1719 14695.22 done 1.36 - - 2447.94 - 3.54 0.121 3474.19 365.8 77.86 - - 2160.62 - - - - - - - - - 15.77 -
14744.65 629.66 8.18 1730 14749.17 done 1.36 - - 2447.69 - 3.12 0.058 2178.38 -415.3 77.86 - - 2161.72 - - - - - - - - - 15.82 -
15054.72 608.85 7.40 1762 15060.47 1.38 0.17 0.112 2482.25 203.3 3.49 0.120 3473.94 371.2 77.86 - - 2163.44 - - - - - - - - 15.81 15.72 -
15109.73 604.67 8.40 1773 15114.38 done 1.38 - - 2483.25 - 3.12 0.057 2178.94 -415.1 77.86 - - 2161.81 - - - - - - - - - 15.82 -
15419.79 581.91 6.77 1805 15425.59 done 1.42 - - 2482.31 - 3.95 0.139 735.12 -365.5 77.86 - - 2160.53 - - - - - - - - - 15.73 -
15444.81 579.93 7.08 1810 15450.42 done 1.45 - - 2482.62 - 3.56 0.052 2222.50 417.8 77.86 - - 2161.56 - - - - - - - - - 15.84 -
15749.87 558.76 6.62 1841 15754.43 done 1.49 - - 2482.25 - 3.40 0.121 3473.75 368.0 77.86 - - 2161.69 - - - - - - - - - 15.76 -
15789.88 555.69 7.96 1849 15794.40 done 1.49 - - 2483.31 - 3.11 0.056 2176.44 -417.1 77.86 - - 2160.59 - - - - - - - - - 15.82 -
16099.95 535.36 6.93 1881 16105.60 1.53 0.17 0.104 2517.94 203.7 3.53 0.118 3474.44 367.7 77.86 - - 2160.78 - - - - - - - - 15.81 15.74 -
16214.97 526.60 8.16 1904 16219.51 done 1.53 - - 2517.69 - 3.11 0.055 2177.50 -417.0 77.86 - - 2163.00 - - - - - - - - - 15.85 -
16525.06 507.14 6.10 1936 16526.39 VBD 1.58 - - 2517.62 - - - 2178.06 - 77.86 - - 2159.84 - - - - - - - - - - -
16825.12 487.68 6.36 1966 16830.91 done 1.63 - - 2518.19 - 3.94 0.138 736.62 -365.8 77.86 - - 2162.62 - - - - - - - - - 15.67 -
16904.04 481.25 7.61 1982 16910.90 done 1.63 - - 2517.88 - 3.57 0.051 2224.88 416.9 77.86 - - 2159.50 - - - - - - - - - 15.76 -
17210.19 462.36 5.80 2013 17242.69 1.73 0.26 0.086 2569.62 199.0 3.43 0.118 3474.19 364.2 109.98 26.61 1.621 2048.81 -4.2 0.206 - - - - - - 15.81 15.58 11.97
17250.47 459.43 6.34 2021 17255.11 roll 1.78 - - 2569.00 - 3.14 0.053 2178.31 -412.7 109.98 - - 2049.38 - - - - - - - - - 15.65 -
17560.49 427.75 10.45 2053 17566.29 roll 1.78 - - 2569.31 - 3.93 0.134 735.44 -367.1 109.98 - - 2044.19 - - - - - - - - - 15.58 -
17625.57 419.98 11.28 2066 17631.24 roll 1.78 - - 2568.62 - 3.58 0.051 2223.50 415.7 109.98 - - 2045.78 - - - - - - - - - 15.64 -
17930.54 388.81 9.66 2097 17935.09 roll 1.78 - - 2569.25 - 3.38 0.117 3473.00 369.7 109.98 - - 2043.75 - - - - - - - - - 15.70 -
17964.39 384.90 11.19 2104 17971.22 roll 1.78 - - 2569.06 - 3.12 0.054 2177.06 -415.4 109.98 - - 2044.94 - - - - - - - - - 15.72 -
18270.57 353.62 9.48 2135 18276.18 done 1.78 - - 2568.69 - 3.51 0.114 3472.38 369.0 109.98 - - 2042.16 - - - - - - - - - 15.72 -
18355.67 343.28 12.83 2152 18360.13 roll 1.78 - - 2568.75 - 3.11 0.054 2179.00 -415.9 109.98 - - 2045.06 - - - - - - - - - 15.77 -
18665.62 312.73 9.37 2184 18671.37 done 1.78 - - 2568.50 - 3.94 0.133 735.44 -366.4 109.98 - - 2041.72 - - - - - - - - - 15.71 -
18690.63 309.89 10.43 2189 18696.24 done 1.78 - - 2568.31 - 3.59 0.048 2224.12 414.7 109.98 - - 2042.69 - - - - - - - - - 15.78 -
18995.67 283.05 9.06 2220 18997.00 VBD 1.78 - - 2568.50 - - - 2224.06 - 109.98 - - 2042.97 - - - - - - - - - - -
19295.74 256.89 8.96 2250 19301.42 done 1.78 - - 2568.81 - 4.01 0.129 735.06 -371.3 109.98 - - 2045.22 - - - - - - - - - 15.73 -
19484.73 238.16 9.84 2288 19491.58 done 1.78 - - 2569.31 - 3.61 0.052 2223.69 412.4 109.98 - - 2042.91 - - - - - - - - - 15.74 -
19790.88 213.57 8.38 2319 19795.45 done 1.78 - - 2569.00 - 3.41 0.112 3473.25 366.4 109.98 - - 2042.88 - - - - - - - - - 15.76 -
19974.78 194.97 10.01 2356 19981.77 done 1.78 - - 2569.12 - 3.11 0.052 2177.50 -416.6 109.98 - - 2044.81 - - - - - - - - - 15.80 -
20281.00 169.90 7.85 2387 20286.74 done 1.78 - - 2568.50 - 3.92 0.131 735.00 -368.0 109.98 - - 2044.56 - - - - - - - - - 15.71 -
20329.94 165.49 8.73 2397 20336.78 done 1.78 - - 2569.44 - 3.58 0.048 2227.19 416.8 109.98 - - 2042.25 - - - - - - - - - 15.80 -
20636.10 144.80 6.73 2428 20637.43 VBD 1.82 - - 2569.06 - - - 2226.94 - 109.98 - - 2042.72 - - - - - - - - - - -
20936.16 124.00 6.35 2458 20941.88 1.87 0.16 0.101 2603.62 216.0 4.05 0.126 735.12 -368.4 109.98 - - 2044.66 - - - - - - - - 15.78 15.69 -
21101.30 111.71 7.52 2491 21106.79 done 1.89 - - 2603.62 - 3.60 0.049 2227.38 414.5 109.98 - - 2043.88 - - - - - - - - - 15.79 -
21406.25 99.49 2.80 2523 21478.19 2.11 0.32 0.077 2662.25 183.2 4.12 0.126 736.31 -361.9 184.99 62.56 1.219 1744.03 -4.8 0.068 - - - - - - 15.77 15.37 11.98
21631.27 74.34 16.37 2568 21637.04 roll 2.11 - - 2661.94 - 3.66 0.050 2222.75 406.1 184.99 - - 1738.78 - - - - - - - - - 15.54 -
21816.33 54.87 8.09 2605 21822.06 done 2.11 - - 2662.69 - 3.42 0.111 3473.81 365.8 184.99 - - 1738.56 - - - - - - - - - 15.56 -
21971.36 56.12 -1.25 2636 22084.35 2.51 0.58 0.070 2754.56 158.4 3.13 0.049 2173.81 -415.3 317.80 107.68 1.143 1204.44 -5.0 0.042 - - - - - - 15.53 15.65 12.19
22262.24 23.34 17.37 2694 22267.98 roll 2.51 - - 2754.06 - 3.99 0.128 736.25 -360.3 317.80 - - 1197.38 - - - - - - - - - 15.41 -
22362 end climb: SURFACE_DEPTH_REACHED
22362 begin surface coast
22367 end surface coast: CONTROL_FINISHED_OK
22367 begin surface
SM 0.58 - - - - 175.1 2.07 0.269 767.6 370.8 17.50 0.064 775.2 44.3 - 3.37 0.047 760.1 224.4 -0.283 - - 12.28 15.50 15.56 -