NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 67 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 24.57 of 350.00 AH used of 24V (92.98% remains)
• Surface angle -61.9 deg, depth 1.26 m • Intended pitch -20.5 deg, speed -8.049 cm/s
VBD pumped to 424.82 (SM_CC=425)
• GPS1 time: 82 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
6 end surface: CONTROL_FINISHED_OK
6 begin dive
6.38 - - - 74.45 VBD -1.26 - - 180.31 - - - 2117.56 - -77.86 67.58 0.005 2374.97 - - - - - - - - - - 15.67
74.70 4.03 -5.48 13 106.69 -1.26 13.65 0.277 1833.06 121.1 4.09 0.176 663.50 -355.5 -77.86 10.46 0.007 2816.12 42.2 -4.019 - - - - - - 15.59 15.65 15.70
194.39 35.42 -26.31 37 200.08 roll -1.26 - - 1833.25 - 3.48 0.071 2118.50 418.1 -77.86 - - 2817.00 - - - - - - - - - 15.76 -
379.43 65.27 -12.63 74 385.11 roll -1.26 - - 1833.06 - 3.39 0.125 3475.62 400.3 -77.86 - - 2817.88 - - - - - - - - - 15.79 -
439.45 73.76 -13.72 86 445.12 roll -1.26 - - 1833.00 - 3.36 0.064 2083.00 -414.5 -77.86 - - 2819.25 - - - - - - - - - 15.83 -
624.49 95.25 -10.43 123 630.28 roll -1.26 - - 1833.62 - 3.92 0.176 663.44 -362.1 -77.86 - - 2818.62 - - - - - - - - - 15.83 -
674.50 101.45 -12.78 133 679.13 roll -1.26 - - 1833.38 - 3.42 0.067 2119.12 425.6 -77.86 - - 2819.69 - - - - - - - - - 15.88 -
984.53 134.38 -10.28 165 985.86 no move -1.26 - - 1833.31 - - - 2119.25 - -77.86 - - 2819.22 - - - - - - - - - - -
1284.56 165.26 -10.33 195 1285.89 no move -1.26 - - 1833.38 - - - 2119.25 - -77.86 - - 2819.12 - - - - - - - - - - -
1584.59 197.49 -11.16 225 1585.92 no move -1.26 - - 1833.50 - - - 2119.25 - -77.86 - - 2818.97 - - - - - - - - - - -
1884.64 229.79 -10.87 255 1890.42 roll -1.26 - - 1831.62 - 3.99 0.179 663.44 -364.9 -77.86 - - 2818.84 - - - - - - - - - 15.98 -
1949.65 237.84 -12.67 268 1954.22 roll -1.26 - - 1833.44 - 3.43 0.072 2120.12 424.7 -77.86 - - 2821.00 - - - - - - - - - 16.01 -
2259.70 271.96 -11.14 300 2264.25 roll -1.26 - - 1833.69 - 3.34 0.133 3473.75 405.3 -77.86 - - 2818.59 - - - - - - - - - 16.02 -
2319.73 279.31 -12.56 312 2324.29 roll -1.26 - - 1833.06 - 3.33 0.072 2084.44 -417.2 -77.86 - - 2818.81 - - - - - - - - - 16.04 -
2629.79 315.21 -11.91 344 2631.12 no move -1.26 - - 1833.19 - - - 2084.31 - -77.86 - - 2818.50 - - - - - - - - - - -
2929.85 349.91 -11.42 374 2935.66 roll -1.26 - - 1831.06 - 3.91 0.191 663.62 -363.3 -77.86 - - 2817.91 - - - - - - - - - 16.02 -
2984.88 357.26 -14.31 385 2989.45 roll -1.26 - - 1833.06 - 3.44 0.077 2117.44 422.6 -77.86 - - 2819.00 - - - - - - - - - 16.07 -
3294.99 389.85 -10.22 417 3300.74 roll -1.26 - - 1833.94 - 4.00 0.188 662.56 -363.7 -77.86 - - 2816.97 - - - - - - - - - 16.03 -
3359.97 397.93 -12.42 430 3364.60 roll -1.26 - - 1832.88 - 3.43 0.078 2117.06 424.1 -77.86 - - 2816.56 - - - - - - - - - 16.08 -
3670.02 427.67 -8.80 462 3674.59 roll -1.26 - - 1832.19 - 3.38 0.138 3475.00 401.8 -77.86 - - 2816.22 - - - - - - - - - 16.06 -
3700.04 430.93 -9.55 468 3704.58 roll -1.26 - - 1833.25 - 3.31 0.073 2085.69 -419.7 -77.86 - - 2815.81 - - - - - - - - - 16.07 -
4010.10 461.21 -9.07 500 4015.93 roll -1.26 - - 1832.88 - 3.89 0.195 663.44 -365.6 -77.86 - - 2815.94 - - - - - - - - - 16.05 -
4105.13 472.66 -12.39 519 4109.77 roll -1.26 - - 1833.12 - 3.46 0.083 2117.75 420.3 -77.86 - - 2814.88 - - - - - - - - - 16.08 -
4415.19 505.03 -10.29 551 4421.01 roll -1.26 - - 1832.75 - 4.02 0.194 663.19 -361.8 -77.86 - - 2813.56 - - - - - - - - - 16.05 -
4474.15 512.24 -12.20 563 4480.91 roll -1.26 - - 1833.00 - 3.45 0.082 2117.75 421.6 -77.86 - - 2814.06 - - - - - - - - - 16.09 -
4780.24 544.17 -10.28 594 4784.80 roll -1.26 - - 1832.88 - 3.39 0.142 3475.94 400.6 -77.86 - - 2814.16 - - - - - - - - - 16.08 -
4844.14 552.24 -13.80 607 4850.95 roll -1.26 - - 1832.62 - 3.33 0.077 2084.94 -417.7 -77.86 - - 2813.38 - - - - - - - - - 16.10 -
5150.30 584.71 -10.65 638 5156.09 roll -1.26 - - 1833.31 - 3.91 0.200 663.62 -363.5 -77.86 - - 2816.16 - - - - - - - - - 16.07 -
5185.31 589.14 -12.89 645 5190.02 roll -1.26 - - 1832.81 - 3.46 0.085 2115.50 419.6 -77.86 - - 2813.78 - - - - - - - - - 16.10 -
5495.34 621.33 -10.34 677 5496.67 no move -1.26 - - 1833.06 - - - 2115.94 - -77.86 - - 2812.66 - - - - - - - - - - -
5795.37 650.96 -9.43 707 5799.92 roll -1.26 - - 1833.19 - 3.38 0.144 3474.75 402.0 -77.86 - - 2812.00 - - - - - - - - - 16.09 -
5829.38 654.34 -9.42 714 5836.05 roll -1.26 - - 1833.19 - 3.30 0.078 2085.94 -420.9 -77.86 - - 2813.19 - - - - - - - - - 16.11 -
6135.42 683.26 -8.87 745 6141.21 roll -1.26 - - 1832.81 - 3.91 0.205 662.69 -364.0 -77.86 - - 2810.81 - - - - - - - - - 16.07 -
6234.37 694.47 -11.61 765 6241.13 roll -1.26 - - 1833.00 - 3.47 0.089 2115.81 418.8 -77.86 - - 2811.75 - - - - - - - - - 16.12 -
6540.47 722.27 -7.87 796 6545.04 roll -1.26 - - 1833.25 - 3.43 0.147 3476.75 396.8 -77.86 - - 2810.50 - - - - - - - - - 16.10 -
6574.50 725.89 -10.33 803 6581.15 roll -1.26 - - 1832.94 - 3.30 0.083 2086.62 -421.3 -77.86 - - 2810.34 - - - - - - - - - 16.11 -
6880.51 752.09 -8.46 834 6886.29 roll -1.26 - - 1833.12 - 3.88 0.207 662.62 -367.0 -77.86 - - 2808.66 - - - - - - - - - 16.07 -
6945.54 759.09 -11.38 847 6950.23 roll -1.26 - - 1832.88 - 3.45 0.091 2114.75 420.9 -77.86 - - 2810.72 - - - - - - - - - 16.11 -
7255.56 783.12 -8.02 879 7260.11 roll -1.26 - - 1832.06 - 3.39 0.147 3473.62 400.8 -77.86 - - 2810.41 - - - - - - - - - 16.09 -
7309.45 787.71 -8.11 890 7316.23 roll -1.26 - - 1832.94 - 3.30 0.083 2086.88 -420.2 -77.86 - - 2809.50 - - - - - - - - - 16.11 -
7615.85 811.02 -7.17 921 7621.55 roll -1.26 - - 1833.12 - 3.91 0.210 662.81 -364.2 -77.86 - - 2806.53 - - - - - - - - - 16.08 -
7670.62 816.19 -10.37 932 7675.46 roll -1.26 - - 1833.50 - 3.47 0.095 2114.88 418.5 -77.86 - - 2808.19 - - - - - - - - - 16.12 -
7980.65 841.09 -7.85 964 7985.23 roll -1.26 - - 1832.75 - 3.45 0.150 3474.06 394.0 -77.86 - - 2810.59 - - - - - - - - - 16.10 -
8020.66 844.66 -8.93 972 8025.19 roll -1.26 - - 1833.12 - 3.28 0.085 2087.62 -422.7 -77.86 - - 2810.31 - - - - - - - - - 16.12 -
8330.72 870.45 -7.99 1004 8332.05 no move -1.26 - - 1833.44 - - - 2087.81 - -77.86 - - 2805.81 - - - - - - - - - - -
8630.78 895.91 -7.94 1034 8636.58 roll -1.26 - - 1832.94 - 3.95 0.214 663.44 -360.6 -77.86 - - 2806.72 - - - - - - - - - 16.08 -
8789.78 911.61 -11.22 1066 8796.56 roll -1.26 - - 1831.75 - 3.52 0.100 2113.00 411.8 -77.86 - - 2807.84 - - - - - - - - - 16.12 -
9095.91 935.04 -8.77 1097 9100.61 roll -1.26 - - 1833.44 - 3.47 0.152 3473.38 392.0 -77.86 - - 2807.34 - - - - - - - - - 16.10 -
9210.00 945.13 -8.93 1120 9216.62 roll -1.26 - - 1833.44 - 3.30 0.089 2087.69 -419.9 -77.86 - - 2807.25 - - - - - - - - - 16.12 -
9516.01 970.27 -7.38 1151 9521.81 roll -1.26 - - 1832.88 - 4.00 0.214 663.44 -356.1 -77.86 - - 2808.22 - - - - - - - - - 16.08 -
9605.06 979.34 -10.71 1169 9611.80 roll -1.26 - - 1833.06 - 3.55 0.101 2113.56 408.5 -77.86 - - 2805.97 - - - - - - - - - 16.12 -
9751 end dive: TARGET_DEPTH_EXCEEDED
9751 begin apogee
9752.46 990.20 -7.68 1184 9821.97 -0.25 1.75 0.163 2080.88 141.6 0.06 0.351 2187.06 1225.0 - 64.04 2.289 2498.69 -4.8 0.344 - - - - - - 16.07 15.60 13.18
9823 end apogee: CONTROL_FINISHED_OK
9823 begin climb
9823.08 992.12 - 1191 9904.10 1.26 2.50 0.104 2450.12 147.7 4.19 0.175 738.94 -345.6 77.86 71.65 2.238 2178.72 -4.5 0.328 - - - - - - 15.63 15.21 12.96
9915.74 984.83 8.78 1209 9922.53 roll 1.26 - - 2450.19 - 3.67 0.071 2215.25 402.3 77.86 - - 2179.94 - - - - - - - - - 15.34 -
10221.86 952.54 11.50 1240 10223.19 VBD 1.26 - - 2449.56 - - - 2215.75 - 77.86 - - 2167.88 - - - - - - - - - - -
10521.92 919.92 10.63 1270 10526.47 done 1.26 - - 2449.38 - 3.24 0.147 3473.50 388.2 77.86 - - 2167.28 - - - - - - - - - 15.78 -
10605.82 910.04 12.45 1287 10612.74 done 1.26 - - 2450.50 - 3.12 0.076 2183.25 -413.5 77.86 - - 2165.56 - - - - - - - - - 15.82 -
10912.02 877.04 9.94 1318 10917.81 done 1.26 - - 2449.75 - 3.96 0.173 736.06 -365.5 77.86 - - 2162.44 - - - - - - - - - 15.86 -
11037.06 862.18 13.03 1343 11041.78 done 1.26 - - 2450.12 - 3.55 0.073 2216.50 417.0 77.86 - - 2163.59 - - - - - - - - - 15.91 -
11347.13 833.11 8.93 1375 11348.46 VBD 1.26 - - 2449.94 - - - 2215.81 - 77.86 - - 2160.69 - - - - - - - - - - -
11647.18 806.85 8.69 1405 11653.00 done 1.26 - - 2450.44 - 4.05 0.169 736.81 -365.2 77.86 - - 2159.97 - - - - - - - - - 15.95 -
11662.19 805.42 7.85 1408 11667.77 done 1.26 - - 2449.62 - 3.53 0.069 2218.50 419.7 77.86 - - 2162.75 - - - - - - - - - 15.98 -
11967.23 778.83 8.52 1439 11971.75 done 1.26 - - 2450.00 - 3.23 0.145 3474.19 388.8 77.86 - - 2164.03 - - - - - - - - - 15.99 -
11997.26 775.86 9.87 1445 12001.88 done 1.26 - - 2450.25 - 3.05 0.070 2180.38 -424.2 77.86 - - 2160.81 - - - - - - - - - 16.00 -
12307.28 751.63 7.13 1477 12311.79 done 1.29 - - 2449.94 - 3.29 0.141 3474.75 393.4 77.86 - - 2160.47 - - - - - - - - - 16.00 -
12367.29 746.43 8.99 1489 12371.79 done 1.29 - - 2450.19 - 3.04 0.070 2180.00 -425.9 77.86 - - 2163.38 - - - - - - - - - 16.03 -
12677.32 721.48 8.17 1521 12678.65 VBD 1.29 - - 2450.19 - - - 2179.56 - 77.86 - - 2159.59 - - - - - - - - - - -
12977.35 697.23 8.12 1551 12981.88 done 1.29 - - 2450.06 - 3.29 0.142 3473.62 393.3 77.86 - - 2160.22 - - - - - - - - - 16.01 -
13107.37 685.18 10.32 1577 13111.87 done 1.29 - - 2449.75 - 3.06 0.070 2180.06 -422.7 77.86 - - 2159.91 - - - - - - - - - 16.05 -
13417.41 660.08 8.18 1609 13423.19 done 1.29 - - 2449.50 - 3.83 0.166 736.88 -376.8 77.86 - - 2157.69 - - - - - - - - - 16.04 -
13462.42 655.60 10.78 1618 13466.98 done 1.29 - - 2448.12 - 3.46 0.068 2220.81 428.9 77.86 - - 2160.06 - - - - - - - - - 16.06 -
13772.45 630.51 8.05 1650 13773.79 VBD 1.29 - - 2449.62 - - - 2219.75 - 77.86 - - 2157.28 - - - - - - - - - - -
14072.49 608.02 7.76 1680 14077.00 done 1.29 - - 2449.75 - 3.15 0.143 3475.00 398.5 77.86 - - 2160.06 - - - - - - - - - 16.06 -
14102.50 605.87 7.82 1686 14106.99 done 1.29 - - 2450.06 - 3.05 0.068 2180.50 -424.4 77.86 - - 2161.72 - - - - - - - - - 16.08 -
14412.53 581.81 8.17 1718 14413.86 VBD 1.29 - - 2449.94 - - - 2180.81 - 77.86 - - 2157.28 - - - - - - - - - - -
14712.98 559.69 7.36 1748 14718.48 done 1.31 - - 2449.75 - 3.81 0.162 737.31 -378.9 77.86 - - 2158.19 - - - - - - - - - 16.06 -
14731.50 557.77 7.74 1752 14738.40 done 1.31 - - 2449.94 - 3.44 0.064 2221.44 431.4 77.86 - - 2159.41 - - - - - - - - - 16.09 -
15037.61 537.97 6.25 1783 15043.39 done 1.36 - - 2447.00 - 3.93 0.158 736.75 -377.8 77.86 - - 2158.88 - - - - - - - - - 16.07 -
15096.54 532.99 7.83 1795 15103.31 done 1.36 - - 2450.31 - 3.44 0.066 2222.31 431.8 77.86 - - 2158.38 - - - - - - - - - 16.09 -
15402.68 512.84 7.25 1826 15408.49 1.39 0.15 0.121 2483.50 221.3 3.92 0.157 735.88 -379.2 77.86 - - 2158.44 - - - - - - - - 16.08 16.07 -
15457.70 508.23 8.59 1837 15463.23 done 1.39 - - 2484.25 - 3.44 0.065 2222.62 432.2 77.86 - - 2157.16 - - - - - - - - - 16.09 -
15762.71 487.54 6.99 1868 15768.42 done 1.42 - - 2484.25 - 3.91 0.155 735.88 -380.2 77.86 - - 2157.00 - - - - - - - - - 16.07 -
15841.65 481.69 7.70 1884 15848.42 done 1.42 - - 2484.00 - 3.44 0.065 2222.88 432.3 77.86 - - 2157.31 - - - - - - - - - 16.10 -
16147.80 461.67 7.34 1915 16152.30 done 1.44 - - 2484.12 - 3.12 0.137 3475.06 401.3 77.86 - - 2158.19 - - - - - - - - - 16.08 -
16161.64 460.16 8.74 1918 16168.43 done 1.44 - - 2483.75 - 3.04 0.062 2178.75 -426.4 77.86 - - 2157.25 - - - - - - - - - 16.10 -
16467.86 440.26 6.87 1949 16472.38 done 1.47 - - 2484.00 - 3.24 0.135 3475.56 400.2 77.86 - - 2157.50 - - - - - - - - - 16.09 -
16507.87 437.13 7.79 1957 16512.38 done 1.47 - - 2483.88 - 3.03 0.062 2178.25 -428.2 77.86 - - 2158.72 - - - - - - - - - 16.10 -
16817.97 416.03 6.56 1989 16822.46 done 1.52 - - 2482.31 - 3.26 0.132 3476.06 398.1 77.86 - - 2158.41 - - - - - - - - - 16.07 -
16838.18 414.45 7.23 1993 16842.49 1.54 0.18 0.115 2518.31 200.0 3.04 0.060 2176.56 -427.5 77.86 - - 2159.19 - - - - - - - - 16.07 16.09 -
17148.01 393.08 6.85 2025 17152.53 done 1.58 - - 2521.25 - 3.25 0.133 3475.00 399.5 77.86 - - 2157.94 - - - - - - - - - 16.07 -
17271.92 384.47 7.25 2050 17278.69 done 1.60 - - 2521.00 - 3.01 0.064 2177.50 -431.1 77.86 - - 2157.09 - - - - - - - - - 16.10 -
17578.12 365.00 6.35 2081 17583.80 done 1.65 - - 2520.56 - 3.78 0.153 735.75 -381.4 77.86 - - 2155.62 - - - - - - - - - 16.08 -
17637.08 360.37 7.42 2093 17643.83 done 1.67 - - 2521.38 - 3.42 0.061 2223.56 435.0 77.86 - - 2156.34 - - - - - - - - - 16.10 -
17943.21 343.82 4.87 2124 17985.81 1.81 0.36 0.093 2586.38 180.6 3.16 0.134 3474.88 396.0 123.93 36.90 1.536 1993.50 -4.4 0.164 - - - - - - 16.08 15.86 13.24
17987.51 340.75 5.59 2133 18024.83 done 1.92 - - 2586.31 - 3.06 0.059 2178.62 -423.6 159.47 32.17 1.473 1850.91 -4.4 0.170 - - - - - - - 15.91 13.13
18323.61 292.25 15.52 2170 18329.37 done 1.92 - - 2586.19 - 3.86 0.152 736.25 -373.7 159.47 - - 1837.97 - - - - - - - - - 15.84 -
18338.60 289.67 16.39 2173 18343.23 done 1.92 - - 2586.50 - 3.47 0.061 2221.44 428.0 159.47 - - 1839.84 - - - - - - - - - 15.87 -
18648.63 240.22 15.56 2205 18649.96 VBD 1.92 - - 2586.19 - - - 2220.94 - 159.47 - - 1835.91 - - - - - - - - - - -
18948.66 196.49 14.92 2235 18953.18 done 1.92 - - 2586.38 - 3.16 0.134 3475.25 396.9 159.47 - - 1836.41 - - - - - - - - - 15.94 -
19002.55 187.85 16.59 2246 19009.32 done 1.92 - - 2586.00 - 3.07 0.062 2179.94 -421.9 159.47 - - 1835.88 - - - - - - - - - 15.94 -
19308.75 145.07 13.76 2277 19314.48 done 1.92 - - 2586.56 - 3.81 0.147 736.56 -378.8 159.47 - - 1835.31 - - - - - - - - - 15.96 -
19317.69 143.69 13.34 2279 19324.60 done 1.92 - - 2586.06 - 3.44 0.058 2223.44 432.2 159.47 - - 1834.56 - - - - - - - - - 15.99 -
19623.82 107.68 10.86 2310 19628.40 done 1.92 - - 2586.25 - 3.12 0.131 3477.75 402.0 159.47 - - 1836.72 - - - - - - - - - 15.98 -
19853.93 86.34 7.37 2356 19859.54 done 1.94 - - 2586.50 - 3.06 0.061 2176.62 -425.2 159.47 - - 1834.12 - - - - - - - - - 16.01 -
20039.01 77.91 4.20 2393 20090.13 2.11 0.41 0.090 2656.94 171.8 3.26 0.124 3474.88 398.2 215.15 43.58 1.217 1621.16 -4.9 0.052 - - - - - - 15.99 15.80 13.22
20314.09 49.41 10.05 2448 20319.72 roll 2.11 - - 2656.50 - 3.06 0.060 2176.81 -424.2 215.15 - - 1617.19 - - - - - - - - - 15.88 -
20499.17 33.64 8.66 2485 20504.83 roll 2.11 - - 2656.81 - 3.22 0.120 3475.25 403.2 215.15 - - 1616.09 - - - - - - - - - 15.89 -
20539.19 29.45 10.38 2493 20544.96 done 2.11 - - 2656.50 - 3.04 0.057 2175.00 -427.7 215.15 - - 1615.72 - - - - - - - - - 15.91 -
20724.25 29.43 -1.38 2530 20841.81 2.52 0.61 0.084 2754.94 161.4 3.88 0.147 735.88 -370.9 351.68 108.91 1.141 1065.97 -5.0 0.022 - - - - - - 15.92 15.50 13.15
21020 end climb: SURFACE_DEPTH_REACHED
21020 begin surface coast
21030 end surface coast: CONTROL_FINISHED_OK
21030 begin surface
SM 0.07 - - - - 177.6 - 0.012 768.2 - 17.08 0.108 770.9 45.1 - 3.23 0.057 765.4 235.8 -0.030 - - 30.36 15.65 15.71 -