NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 81 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 29.02 of 350.00 AH used of 24V (91.71% remains)
• Surface angle -64.1 deg, depth 0.82 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.48 (SM_CC=425)
• GPS1 time: 36 s
• GPS2 time: 4 s • Transponder ping count: 2
• 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 - - - 74.63 VBD -1.25 - - 180.38 - - - 2118.00 - -77.86 67.67 0.005 2376.22 - - - - - - - - - - 15.64
74.90 3.43 -4.48 8 106.45 -1.25 13.73 0.280 1835.88 120.6 3.46 0.132 3474.44 392.0 -77.86 9.95 0.007 2816.97 44.3 -3.620 - - - - - - 15.60 15.62 15.68
329.21 60.42 -15.06 59 334.97 roll -1.25 - - 1837.19 - 3.47 0.069 2083.56 -400.8 -77.86 - - 2818.47 - - - - - - - - - 15.79 -
514.24 83.52 -10.68 96 519.97 roll -1.25 - - 1836.88 - 3.48 0.125 3475.12 399.9 -77.86 - - 2818.53 - - - - - - - - - 15.81 -
714.28 106.15 -9.72 136 718.85 roll -1.25 - - 1835.12 - 3.47 0.068 2084.56 -400.7 -77.86 - - 2817.12 - - - - - - - - - 15.87 -
1024.29 132.66 -7.98 168 1030.11 roll -1.25 - - 1836.81 - 3.98 0.171 662.81 -357.2 -77.86 - - 2817.47 - - - - - - - - - 15.88 -
1089.31 140.03 -11.97 181 1094.02 roll -1.25 - - 1836.69 - 3.44 0.067 2119.38 423.4 -77.86 - - 2819.38 - - - - - - - - - 15.93 -
1399.32 172.39 -10.19 213 1403.88 roll -1.25 - - 1836.44 - 3.39 0.129 3474.62 399.8 -77.86 - - 2820.47 - - - - - - - - - 15.94 -
1449.60 178.13 -11.59 223 1454.92 roll -1.25 - - 1836.81 - 3.45 0.068 2084.25 -403.0 -77.86 - - 2817.47 - - - - - - - - - 15.97 -
1754.35 210.13 -10.54 254 1760.18 roll -1.25 - - 1837.06 - 3.98 0.173 661.94 -357.4 -77.86 - - 2817.72 - - - - - - - - - 15.96 -
1823.27 219.20 -12.91 268 1830.10 roll -1.25 - - 1836.81 - 3.45 0.067 2117.31 421.8 -77.86 - - 2820.47 - - - - - - - - - 15.99 -
2129.38 253.18 -11.13 299 2130.71 no move -1.25 - - 1836.56 - - - 2117.00 - -77.86 - - 2819.59 - - - - - - - - - - -
2429.40 287.71 -12.15 329 2430.73 no move -1.25 - - 1836.94 - - - 2117.44 - -77.86 - - 2819.50 - - - - - - - - - - -
2729.42 323.49 -11.85 359 2735.28 roll -1.25 - - 1836.81 - 4.11 0.174 662.50 -354.0 -77.86 - - 2816.59 - - - - - - - - - 16.02 -
2794.51 332.33 -13.65 372 2800.03 roll -1.25 - - 1835.25 - 3.45 0.070 2117.12 421.6 -77.86 - - 2817.62 - - - - - - - - - 16.05 -
3099.45 365.33 -10.26 403 3105.28 roll -1.25 - - 1836.31 - 4.08 0.174 662.69 -356.5 -77.86 - - 2819.12 - - - - - - - - - 16.03 -
3168.38 374.16 -12.34 417 3175.19 roll -1.25 - - 1836.06 - 3.44 0.071 2116.56 422.6 -77.86 - - 2818.44 - - - - - - - - - 16.06 -
3474.49 407.98 -10.61 448 3475.81 no move -1.25 - - 1836.69 - - - 2116.88 - -77.86 - - 2818.22 - - - - - - - - - - -
3774.50 440.11 -10.99 478 3780.33 roll -1.25 - - 1835.44 - 4.05 0.178 663.62 -358.8 -77.86 - - 2817.91 - - - - - - - - - 16.05 -
3833.37 447.62 -12.94 490 3840.25 roll -1.25 - - 1836.81 - 3.43 0.072 2117.44 423.9 -77.86 - - 2818.59 - - - - - - - - - 16.08 -
4139.53 479.43 -10.75 521 4144.22 roll -1.25 - - 1836.88 - 3.39 0.139 3475.50 400.6 -77.86 - - 2818.19 - - - - - - - - - 16.07 -
4179.54 483.96 -12.09 529 4184.12 roll -1.25 - - 1836.50 - 3.44 0.074 2086.25 -403.9 -77.86 - - 2818.31 - - - - - - - - - 16.08 -
4489.56 514.54 -10.60 561 4495.39 roll -1.25 - - 1837.00 - 4.02 0.184 663.50 -353.9 -77.86 - - 2815.09 - - - - - - - - - 16.05 -
4544.58 520.30 -10.63 572 4550.15 roll -1.25 - - 1836.25 - 3.49 0.075 2117.75 416.7 -77.86 - - 2815.22 - - - - - - - - - 16.08 -
4849.58 550.12 -8.83 603 4855.29 roll -1.25 - - 1837.31 - 4.12 0.182 663.50 -353.0 -77.86 - - 2814.09 - - - - - - - - - 16.06 -
4894.60 554.96 -11.02 612 4900.20 roll -1.25 - - 1835.50 - 3.48 0.075 2117.25 417.7 -77.86 - - 2815.59 - - - - - - - - - 16.09 -
5199.61 583.26 -8.96 643 5204.17 roll -1.25 - - 1837.31 - 3.37 0.141 3474.44 402.7 -77.86 - - 2815.38 - - - - - - - - - 16.08 -
5229.62 586.72 -11.53 649 5234.19 roll -1.25 - - 1837.19 - 3.46 0.077 2084.56 -401.7 -77.86 - - 2816.09 - - - - - - - - - 16.09 -
5539.64 617.49 -9.43 681 5545.33 roll -1.25 - - 1837.44 - 4.01 0.189 664.44 -354.1 -77.86 - - 2816.62 - - - - - - - - - 16.07 -
5574.65 621.98 -12.93 688 5580.24 roll -1.25 - - 1837.06 - 3.46 0.076 2117.31 419.9 -77.86 - - 2813.03 - - - - - - - - - 16.10 -
5879.66 652.04 -9.41 719 5880.99 no move -1.25 - - 1836.81 - - - 2117.38 - -77.86 - - 2812.66 - - - - - - - - - - -
6179.70 680.11 -8.86 749 6185.55 roll -1.25 - - 1836.88 - 4.12 0.189 663.81 -352.8 -77.86 - - 2814.16 - - - - - - - - - 16.07 -
6264.73 688.52 -10.61 766 6269.31 roll -1.25 - - 1836.50 - 3.46 0.084 2115.00 419.4 -77.86 - - 2815.00 - - - - - - - - - 16.10 -
6574.79 714.17 -8.06 798 6580.65 roll -1.25 - - 1837.06 - 4.11 0.190 663.44 -353.2 -77.86 - - 2811.62 - - - - - - - - - 16.07 -
6679.82 724.13 -9.27 819 6684.41 roll -1.25 - - 1837.19 - 3.46 0.084 2115.00 419.5 -77.86 - - 2812.44 - - - - - - - - - 16.11 -
6989.87 751.53 -10.35 851 6994.60 roll -1.25 - - 1836.88 - 3.41 0.145 3475.12 398.9 -77.86 - - 2813.31 - - - - - - - - - 16.10 -
7049.90 756.82 -10.43 863 7055.48 roll -1.25 - - 1835.94 - 3.46 0.081 2086.31 -401.4 -77.86 - - 2812.47 - - - - - - - - - 16.11 -
7354.94 787.24 -9.05 894 7360.77 roll -1.25 - - 1836.69 - 4.04 0.196 663.31 -352.2 -77.86 - - 2812.97 - - - - - - - - - 16.07 -
7479.99 799.68 -10.16 919 7485.73 roll -1.25 - - 1835.56 - 3.52 0.086 2112.62 411.7 -77.86 - - 2812.22 - - - - - - - - - 16.11 -
7785.03 824.41 -7.32 950 7789.74 roll -1.25 - - 1836.88 - 3.46 0.148 3473.19 393.2 -77.86 - - 2812.81 - - - - - - - - - 16.09 -
7798.89 826.05 -6.96 953 7805.78 roll -1.25 - - 1836.94 - 3.48 0.082 2086.25 -398.5 -77.86 - - 2812.53 - - - - - - - - - 16.12 -
8105.08 849.88 -7.84 984 8109.81 roll -1.25 - - 1836.56 - 3.55 0.150 3474.75 391.1 -77.86 - - 2811.25 - - - - - - - - - 16.10 -
8175.12 855.61 -8.18 998 8180.70 roll -1.25 - - 1834.81 - 3.49 0.087 2087.94 -397.4 -77.86 - - 2811.59 - - - - - - - - - 16.11 -
8480.15 876.94 -6.70 1029 8484.88 roll -1.25 - - 1836.69 - 3.56 0.148 3472.62 389.0 -77.86 - - 2811.78 - - - - - - - - - 16.10 -
8510.18 879.36 -7.18 1035 8515.76 roll -1.25 - - 1836.69 - 3.47 0.085 2088.81 -398.8 -77.86 - - 2810.97 - - - - - - - - - 16.11 -
8815.20 894.36 -2.75 1066 8820.95 roll -1.25 - - 1836.50 - 4.05 0.195 663.75 -351.9 -77.86 - - 2809.38 - - - - - - - - - 16.08 -
8860.23 894.24 -2.36 1075 8864.92 roll -1.25 - - 1836.94 - 3.49 0.077 2117.44 416.5 -77.86 - - 2811.22 - - - - - - - - - 16.11 -
9111 end dive: NO_VERTICAL_VELOCITY
9111 begin apogee
9111.45 894.50 - 1101 9181.97 -0.25 1.65 0.121 2082.81 149.0 0.07 0.320 2186.00 979.4 - 64.47 2.146 2501.16 -4.8 0.334 - - - - - - 16.09 15.63 13.27
9185 end apogee: CONTROL_FINISHED_OK
9185 begin climb
9185.13 893.72 - 1108 9265.17 1.25 2.48 0.099 2446.75 146.8 4.27 0.168 736.88 -339.4 77.86 70.86 2.110 2179.53 -4.5 0.321 - - - - - - 15.65 15.26 12.95
9486.89 868.70 10.44 1168 9493.75 done 1.25 - - 2448.25 - 3.65 0.073 2214.75 404.9 77.86 - - 2169.84 - - - - - - - - - 15.63 -
9793.04 838.29 9.51 1199 9798.90 done 1.25 - - 2448.19 - 4.20 0.166 737.69 -351.7 77.86 - - 2165.09 - - - - - - - - - 15.76 -
9838.12 833.58 10.54 1208 9843.73 done 1.25 - - 2447.44 - 3.60 0.072 2217.62 411.1 77.86 - - 2163.84 - - - - - - - - - 15.79 -
10143.14 807.13 7.48 1239 10147.76 done 1.27 - - 2448.88 - 3.19 0.147 3473.31 393.6 77.86 - - 2164.69 - - - - - - - - - 15.86 -
10307.01 791.08 10.35 1272 10313.86 done 1.27 - - 2448.81 - 3.23 0.074 2183.31 -399.4 77.86 - - 2164.22 - - - - - - - - - 15.90 -
10613.19 765.60 8.18 1303 10619.02 done 1.27 - - 2448.31 - 4.02 0.166 736.81 -359.8 77.86 - - 2162.19 - - - - - - - - - 15.92 -
10768.24 749.82 11.31 1334 10773.82 done 1.27 - - 2446.62 - 3.46 0.072 2220.19 428.7 77.86 - - 2161.09 - - - - - - - - - 15.95 -
11073.28 725.79 6.50 1365 11077.77 done 1.32 - - 2448.69 - 3.15 0.145 3472.31 397.5 77.86 - - 2161.25 - - - - - - - - - 15.97 -
11157.13 718.90 8.58 1382 11163.95 done 1.32 - - 2447.12 - 3.19 0.070 2181.62 -404.6 77.86 - - 2162.72 - - - - - - - - - 15.99 -
11463.29 696.88 7.80 1413 11467.83 done 1.32 - - 2448.56 - 3.27 0.145 3473.44 395.1 77.86 - - 2160.81 - - - - - - - - - 16.00 -
11493.33 694.83 7.80 1419 11497.96 done 1.32 - - 2448.69 - 3.20 0.069 2182.06 -403.6 77.86 - - 2162.16 - - - - - - - - - 16.02 -
11803.33 674.61 6.32 1451 11809.14 done 1.37 - - 2449.19 - 3.99 0.162 737.44 -362.1 77.86 - - 2160.62 - - - - - - - - - 16.01 -
11932.28 664.44 7.33 1477 11939.14 1.39 0.17 0.114 2485.56 213.9 3.48 0.071 2219.12 425.8 77.86 - - 2160.12 - - - - - - - - 16.01 16.03 -
12238.38 643.00 8.03 1508 12244.20 done 1.39 - - 2484.56 - 4.05 0.158 736.25 -366.1 77.86 - - 2160.03 - - - - - - - - - 16.03 -
12327.30 634.58 10.62 1526 12334.14 done 1.39 - - 2485.69 - 3.51 0.068 2219.88 422.7 77.86 - - 2159.34 - - - - - - - - - 16.05 -
12633.41 609.88 8.67 1557 12639.24 done 1.39 - - 2486.00 - 4.07 0.156 736.75 -364.4 77.86 - - 2157.78 - - - - - - - - - 16.04 -
12662.34 607.16 9.05 1563 12669.15 done 1.39 - - 2484.88 - 3.46 0.068 2220.31 428.8 77.86 - - 2159.19 - - - - - - - - - 16.06 -
12968.46 585.96 6.52 1594 12973.11 done 1.44 - - 2485.88 - 3.16 0.142 3474.12 396.8 77.86 - - 2159.09 - - - - - - - - - 16.06 -
13158.48 572.95 7.30 1632 13163.01 done 1.46 - - 2486.19 - 3.22 0.072 2181.81 -401.3 77.86 - - 2160.50 - - - - - - - - - 16.07 -
13468.51 553.13 6.54 1664 13474.30 done 1.50 - - 2486.31 - 3.96 0.158 736.50 -365.0 77.86 - - 2157.00 - - - - - - - - - 16.06 -
13643.53 538.99 9.57 1699 13649.14 done 1.50 - - 2486.25 - 3.53 0.069 2223.19 421.2 77.86 - - 2156.03 - - - - - - - - - 16.08 -
13948.56 518.84 6.24 1730 13953.13 1.56 0.19 0.109 2525.19 204.9 3.16 0.139 3473.88 395.8 77.86 - - 2158.88 - - - - - - - - 16.07 16.07 -
14178.59 500.45 7.63 1776 14183.10 done 1.56 - - 2525.25 - 3.14 0.071 2179.44 -412.2 77.86 - - 2159.97 - - - - - - - - - 16.09 -
14488.61 481.78 6.29 1808 14494.27 done 1.61 - - 2524.88 - 3.92 0.155 736.69 -368.0 77.86 - - 2156.16 - - - - - - - - - 16.06 -
14623.62 471.33 8.10 1835 14629.21 done 1.61 - - 2524.44 - 3.47 0.067 2220.75 427.7 77.86 - - 2156.44 - - - - - - - - - 16.09 -
14928.66 451.29 5.94 1866 14959.44 1.70 0.17 0.114 2561.44 217.6 3.17 0.139 3473.31 395.1 107.91 23.69 1.610 2059.34 -4.1 0.192 - - - - - - 16.08 15.90 13.22
14982.51 447.18 7.66 1876 14989.32 roll 1.70 - - 2561.44 - 3.16 0.066 2180.25 -409.2 107.91 - - 2057.59 - - - - - - - - - 15.96 -
15288.68 419.54 9.41 1907 15293.22 roll 1.70 - - 2561.19 - 3.24 0.135 3473.25 399.1 107.91 - - 2054.72 - - - - - - - - - 15.99 -
15318.69 416.60 9.79 1913 15323.21 roll 1.70 - - 2561.56 - 3.15 0.067 2180.50 -410.4 107.91 - - 2054.66 - - - - - - - - - 16.00 -
15628.74 384.20 10.09 1945 15633.30 roll 1.70 - - 2561.25 - 3.24 0.134 3475.44 399.7 107.91 - - 2053.31 - - - - - - - - - 16.01 -
15662.60 380.24 11.30 1952 15669.56 roll 1.70 - - 2561.12 - 3.14 0.065 2179.06 -412.9 107.91 - - 2053.31 - - - - - - - - - 16.02 -
15968.80 348.91 9.56 1983 15970.13 no move 1.70 - - 2561.56 - - - 2179.56 - 107.91 - - 2051.44 - - - - - - - - - - -
16268.85 321.26 8.98 2013 16274.65 roll 1.70 - - 2560.88 - 3.87 0.151 736.44 -372.9 107.91 - - 2050.88 - - - - - - - - - 16.01 -
16413.90 305.18 11.54 2042 16418.48 done 1.70 - - 2561.88 - 3.44 0.067 2221.88 431.8 107.91 - - 2052.22 - - - - - - - - - 16.05 -
16723.96 276.70 9.43 2074 16725.29 VBD 1.70 - - 2561.06 - - - 2221.94 - 107.91 - - 2051.81 - - - - - - - - - - -
17024.00 248.30 9.58 2104 17025.34 VBD 1.70 - - 2561.69 - - - 2222.19 - 107.91 - - 2050.88 - - - - - - - - - - -
17324.06 220.61 9.06 2134 17325.39 VBD 1.70 - - 2560.94 - - - 2221.94 - 107.91 - - 2050.72 - - - - - - - - - - -
17624.10 194.48 8.31 2164 17625.44 VBD 1.70 - - 2561.00 - - - 2221.94 - 107.91 - - 2050.19 - - - - - - - - - - -
17924.15 168.71 8.58 2194 17928.66 done 1.70 - - 2561.50 - 3.09 0.135 3475.12 405.6 107.91 - - 2051.84 - - - - - - - - - 16.07 -
18008.06 161.05 8.98 2211 18015.00 done 1.70 - - 2560.12 - 3.13 0.063 2179.69 -413.9 107.91 - - 2052.44 - - - - - - - - - 16.09 -
18314.22 138.46 6.79 2242 18318.72 done 1.74 - - 2560.69 - 3.19 0.130 3473.88 405.7 107.91 - - 2052.25 - - - - - - - - - 16.07 -
18504.27 125.16 6.87 2280 18508.79 done 1.77 - - 2561.00 - 3.17 0.063 2178.12 -408.8 107.91 - - 2051.41 - - - - - - - - - 16.07 -
18814.38 112.34 4.05 2312 18867.16 1.95 0.31 0.097 2617.06 180.8 3.91 0.146 736.62 -368.7 164.98 46.47 1.259 1824.56 -4.9 0.073 - - - - - - 16.06 15.83 13.22
18903.89 106.38 9.43 2330 18910.64 roll 1.95 - - 2617.19 - 3.45 0.061 2225.69 431.6 164.98 - - 1822.19 - - - - - - - - - 15.89 -
19210.01 78.00 7.12 2384 19211.34 VBD 1.97 - - 2617.62 - - - 2225.50 - 164.98 - - 1818.72 - - - - - - - - - - -
19390.07 66.59 6.23 2420 19395.86 done 2.03 - - 2617.50 - 3.08 0.129 3474.50 405.5 164.98 - - 1817.16 - - - - - - - - - 15.94 -
19575.13 53.53 6.82 2457 19580.78 done 2.06 - - 2617.50 - 3.10 0.060 2176.12 -418.8 164.98 - - 1817.16 - - - - - - - - - 15.97 -
19760.19 46.99 2.90 2494 19826.85 2.29 0.49 0.083 2700.00 168.4 3.93 0.144 735.62 -366.5 238.51 58.33 1.151 1526.97 -5.0 0.034 - - - - - - 15.97 15.71 13.10
20050.23 24.41 4.17 2552 20102.11 2.45 0.22 0.095 2740.69 185.0 3.46 0.061 2226.25 430.8 293.87 45.10 1.100 1302.31 -5.0 0.018 - - - - - - 15.81 15.84 13.05
20280.28 18.38 5.38 2598 20315.42 VBD 2.57 - - 2741.44 - - - 2226.81 - 332.04 31.55 1.057 1146.09 -5.0 0.014 - - - - - - - - 13.02
20441 end climb: SURFACE_DEPTH_REACHED
20441 begin surface coast
20456 end surface coast: CONTROL_FINISHED_OK
20456 begin surface
SM 0.66 - - - - 181.6 - 2.802 769.6 - 16.53 0.078 779.3 47.1 - 0.34 0.103 759.8 2234.7 -1.464 - - 30.36 15.70 15.75 -