NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1127 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 307.80 of 575.00 AH used of 24V (46.47% remains)
• Surface angle -63.3 deg, depth -1.39 m • Intended pitch -27.4 deg, speed -11.111 cm/s
VBD pumped to 474.79 (SM_CC=475)
• GPS1 time: 20 s
• GPS2 time: 2 s • Transponder ping count: 15
• 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
8.44 - - - 100.55 VBD -1.59 - - 169.19 - - - 2116.38 - -74.33 91.66 0.005 2714.09 - - - - - - - - - - 14.69
100.77 5.22 -10.69 9 126.60 -1.59 14.26 0.251 1753.50 111.1 3.69 0.113 3476.25 368.5 -74.33 1.73 0.016 2802.91 51.3 -3.015 - - - - - - 14.89 14.67 14.85
239.83 38.07 -19.09 37 244.44 roll -1.59 - - 1754.31 - 3.42 0.056 2082.56 -407.5 -74.33 - - 2802.91 - - - - - - - - - 15.35 -
309.84 49.81 -16.92 45 315.57 roll -1.59 - - 1754.06 - 4.07 0.148 661.94 -349.0 -74.33 - - 2801.28 - - - - - - - - - 15.04 -
375.30 60.90 -16.87 58 380.48 roll -1.59 - - 1753.81 - 3.52 0.048 2123.50 415.2 -74.33 - - 2802.28 - - - - - - - - - 15.42 -
439.85 69.80 -13.00 65 445.49 roll -1.59 - - 1753.88 - 3.59 0.102 3474.00 376.2 -74.33 - - 2801.44 - - - - - - - - - 15.19 -
498.78 77.92 -13.39 77 505.55 roll -1.59 - - 1753.38 - 3.38 0.051 2080.00 -412.4 -74.33 - - 2804.22 - - - - - - - - - 15.35 -
564.94 85.83 -12.46 84 566.26 no move -1.59 - - 1753.56 - - - 2079.75 - -74.33 - - 2801.69 - - - - - - - - - - -
624.88 93.31 -12.47 90 630.61 roll -1.59 - - 1753.19 - 4.04 0.146 660.75 -351.2 -74.33 - - 2804.66 - - - - - - - - - 15.01 -
693.85 103.84 -15.29 104 700.59 roll -1.59 - - 1753.88 - 3.49 0.045 2125.38 419.7 -74.33 - - 2803.41 - - - - - - - - - 15.42 -
759.94 111.56 -11.37 111 765.52 roll -1.59 - - 1753.88 - 3.58 0.105 3475.44 377.1 -74.33 - - 2802.41 - - - - - - - - - 15.16 -
804.89 117.12 -12.83 120 809.48 roll -1.59 - - 1753.75 - 3.36 0.049 2079.69 -415.4 -74.33 - - 2802.81 - - - - - - - - - 15.37 -
874.90 124.82 -10.89 128 880.62 roll -1.59 - - 1753.56 - 4.03 0.143 660.69 -352.1 -74.33 - - 2802.25 - - - - - - - - - 15.00 -
923.82 130.57 -11.44 138 930.62 roll -1.59 - - 1753.25 - 3.48 0.043 2123.94 420.5 -74.33 - - 2804.28 - - - - - - - - - 15.42 -
990.62 136.39 -8.56 145 996.60 done -1.67 - - 1752.62 - 3.54 0.106 3474.56 381.5 -99.75 0.61 0.036 2910.50 174.1 -118.729 - - - - - - - 14.59 14.49
1048.84 142.85 -11.11 157 1055.61 roll -1.67 - - 1754.38 - 3.35 0.048 2079.81 -416.3 -99.75 - - 2909.22 - - - - - - - - - 15.35 -
1114.98 148.88 -9.25 164 1116.31 no move -1.67 - - 1753.25 - - - 2079.94 - -99.75 - - 2908.69 - - - - - - - - - - -
1174.94 154.38 -9.44 170 1176.27 no move -1.67 - - 1753.81 - - - 2079.81 - -99.75 - - 2908.94 - - - - - - - - - - -
1294.94 166.22 -9.97 182 1296.27 no move -1.67 - - 1753.81 - - - 2079.88 - -99.75 - - 2908.50 - - - - - - - - - - -
1414.95 178.69 -10.17 194 1420.63 roll -1.67 - - 1754.00 - 3.71 0.105 3475.69 376.2 -99.75 - - 2907.88 - - - - - - - - - 15.12 -
1480.41 186.12 -11.47 207 1485.56 roll -1.67 - - 1754.50 - 3.37 0.050 2080.50 -414.0 -99.75 - - 2908.41 - - - - - - - - - 15.35 -
1604.97 199.23 -10.00 220 1610.69 roll -1.67 - - 1754.44 - 4.05 0.145 661.94 -350.3 -99.75 - - 2908.03 - - - - - - - - - 14.95 -
1633.87 202.63 -11.35 226 1640.69 roll -1.67 - - 1754.06 - 3.46 0.043 2124.00 422.6 -99.75 - - 2910.44 - - - - - - - - - 15.40 -
1760.00 215.63 -10.25 239 1765.61 roll -1.67 - - 1753.94 - 3.57 0.105 3475.44 378.6 -99.75 - - 2909.12 - - - - - - - - - 15.12 -
1815.43 222.12 -11.46 250 1820.59 roll -1.67 - - 1753.38 - 3.36 0.049 2080.12 -415.3 -99.75 - - 2910.16 - - - - - - - - - 15.34 -
1940.00 235.98 -11.21 263 1945.64 roll -1.67 - - 1754.44 - 3.68 0.103 3475.38 379.1 -99.75 - - 2909.06 - - - - - - - - - 15.10 -
1968.90 239.64 -12.14 269 1975.69 roll -1.67 - - 1754.12 - 3.36 0.049 2079.75 -415.4 -99.75 - - 2909.91 - - - - - - - - - 15.31 -
2095.01 253.69 -11.04 280 2100.68 roll -1.67 - - 1753.81 - 3.72 0.103 3476.38 375.4 -99.75 - - 2908.88 - - - - - - - - - 15.11 -
2103.92 254.97 -11.33 282 2109.59 roll -1.67 - - 1753.44 - 3.35 0.048 2079.25 -417.1 -99.75 - - 2912.09 - - - - - - - - - 15.31 -
2420.02 291.90 -12.07 295 2421.35 no move -1.67 - - 1754.19 - - - 2079.69 - -99.75 - - 2910.03 - - - - - - - - - - -
2720.02 326.10 -10.97 305 2725.74 roll -1.67 - - 1754.12 - 4.09 0.149 661.81 -346.7 -99.75 - - 2909.03 - - - - - - - - - 14.88 -
2733.95 327.77 -10.81 308 2739.64 roll -1.67 - - 1754.19 - 3.45 0.045 2124.88 424.1 -99.75 - - 2909.78 - - - - - - - - - 15.37 -
3045.05 358.68 -9.60 320 3050.69 roll -1.67 - - 1754.19 - 3.61 0.109 3472.88 373.4 -99.75 - - 2909.19 - - - - - - - - - 15.05 -
3138.96 368.30 -9.35 339 3144.64 roll -1.67 - - 1753.56 - 3.38 0.052 2081.62 -411.6 -99.75 - - 2910.44 - - - - - - - - - 15.26 -
3460.07 400.68 -10.18 353 3465.73 roll -1.67 - - 1753.06 - 3.77 0.108 3475.50 369.7 -99.75 - - 2909.78 - - - - - - - - - 15.03 -
3493.97 405.33 -13.28 360 3499.68 roll -1.67 - - 1753.88 - 3.39 0.051 2080.06 -411.6 -99.75 - - 2911.25 - - - - - - - - - 15.27 -
3815.08 440.51 -10.47 374 3820.74 roll -1.67 - - 1752.81 - 3.78 0.108 3476.19 369.3 -99.75 - - 2910.00 - - - - - - - - - 15.01 -
3870.09 446.68 -11.06 385 3874.67 roll -1.67 - - 1753.62 - 3.39 0.052 2082.31 -411.2 -99.75 - - 2910.47 - - - - - - - - - 15.25 -
4200.14 480.72 -10.06 401 4201.47 no move -1.67 - - 1754.06 - - - 2082.44 - -99.75 - - 2909.84 - - - - - - - - - - -
4409 end dive: TARGET_DEPTH_EXCEEDED
4410 begin apogee
4411.29 501.18 -9.80 408 4502.27 -0.25 2.60 0.141 2079.25 125.1 0.09 0.232 2082.94 - - 84.06 1.644 2498.56 -4.9 0.268 - - - - - - 15.03 14.87 10.80
4505 end apogee: CONTROL_FINISHED_OK
4505 begin climb
4505.42 501.50 - 411 4606.03 1.67 3.33 0.068 2550.56 141.5 4.11 0.135 660.94 -346.0 99.75 91.10 1.582 2092.75 -4.5 0.254 - - - - - - 15.15 14.69 11.40
4673.26 488.12 9.88 445 4678.94 done 1.70 - - 2551.75 - 3.49 0.040 2126.25 419.9 99.75 - - 2084.38 - - - - - - - - - 15.32 -
4984.36 460.38 8.29 457 5016.18 done 1.79 - - 2550.81 - 4.05 0.133 660.44 -361.9 127.80 25.21 1.471 1979.28 -4.2 0.235 - - - - - - - 15.10 11.53
5164.88 441.96 10.15 493 5170.10 roll back 1.82 0.19 0.069 2598.44 250.7 3.47 0.043 2128.81 423.2 127.80 - - 1972.19 - - - - - - - - 15.30 15.51 -
5489.44 414.27 7.77 508 5521.09 VBD 1.92 - - 2598.62 - - - 2128.38 - 161.00 30.81 1.470 1841.19 -4.3 0.216 - - - - - - - - 11.56
5819.45 377.55 11.02 519 5825.16 roll 1.92 - - 2596.62 - 4.09 0.132 661.00 -358.8 161.00 - - 1837.88 - - - - - - - - - 15.20 -
5994.91 352.78 13.38 554 6000.08 roll 1.92 - - 2596.94 - 3.46 0.045 2124.50 423.0 161.00 - - 1836.81 - - - - - - - - - 15.50 -
6319.53 313.49 11.92 569 6325.22 done 1.92 - - 2598.25 - 4.07 0.129 661.69 -359.4 161.00 - - 1833.31 - - - - - - - - - 15.13 -
6443.42 296.41 14.78 594 6449.11 done 1.92 - - 2598.81 - 3.48 0.042 2127.50 421.2 161.00 - - 1834.19 - - - - - - - - - 15.49 -
6764.52 260.14 11.20 608 6770.17 done 1.92 - - 2596.94 - 3.64 0.109 3473.19 369.7 161.00 - - 1834.66 - - - - - - - - - 15.15 -
6973.46 235.35 12.93 650 6980.26 done 1.92 - - 2598.31 - 3.41 0.050 2077.06 -409.4 161.00 - - 1833.16 - - - - - - - - - 15.37 -
7099.56 221.61 11.40 663 7105.42 done 1.92 - - 2598.00 - 3.98 0.130 662.50 -355.4 161.00 - - 1832.94 - - - - - - - - - 15.05 -
7135.00 217.26 12.54 670 7140.18 done 1.92 - - 2598.31 - 3.45 0.040 2128.94 425.1 161.00 - - 1832.41 - - - - - - - - - 15.51 -
7259.58 203.40 11.99 683 7265.30 done 1.92 - - 2599.06 - 4.10 0.125 661.00 -358.0 161.00 - - 1831.31 - - - - - - - - - 15.05 -
7385.04 187.65 12.20 708 7390.22 done 1.92 - - 2600.00 - 3.47 0.041 2128.25 422.8 161.00 - - 1831.75 - - - - - - - - - 15.47 -
7509.64 174.91 9.44 721 7515.33 done 1.97 - - 2599.19 - 4.07 0.123 662.19 -360.2 161.00 - - 1831.03 - - - - - - - - - 15.04 -
7568.55 167.97 10.80 733 7575.42 done 1.97 - - 2597.50 - 3.48 0.042 2129.94 421.8 161.00 - - 1834.16 - - - - - - - - - 15.46 -
7694.66 154.83 9.98 746 7696.10 2.00 0.17 0.074 2641.94 261.4 - - 2130.12 - 161.00 - - 1831.97 - - - - - - - - 15.63 - -
7814.67 141.95 10.36 758 7820.37 done 2.02 - - 2641.75 - 4.09 0.123 661.88 -359.0 161.00 - - 1832.28 - - - - - - - - - 15.01 -
7883.57 133.26 11.51 772 7890.38 done 2.02 - - 2642.88 - 3.45 0.040 2129.12 425.3 161.00 - - 1832.31 - - - - - - - - - 15.44 -
7949.75 126.47 10.06 779 7955.30 done 2.05 - - 2640.75 - 3.59 0.107 3473.88 374.6 161.00 - - 1833.66 - - - - - - - - - 15.11 -
7988.59 121.70 12.15 787 7995.38 done 2.05 - - 2642.81 - 3.39 0.049 2077.94 -411.8 161.00 - - 1832.38 - - - - - - - - - 15.36 -
8054.75 115.42 9.52 794 8060.38 done 2.10 - - 2641.88 - 3.96 0.127 661.88 -357.6 161.00 - - 1831.78 - - - - - - - - - 15.03 -
8103.60 109.47 12.85 804 8110.39 done 2.10 - - 2642.88 - 3.47 0.043 2129.19 422.9 161.00 - - 1831.91 - - - - - - - - - 15.43 -
8169.77 102.65 10.26 811 8175.40 done 2.13 - - 2642.12 - 4.07 0.121 660.94 -360.7 161.00 - - 1831.09 - - - - - - - - - 15.04 -
8245.14 94.22 10.88 826 8250.32 done 2.13 - - 2643.12 - 3.47 0.043 2130.62 423.5 161.00 - - 1831.84 - - - - - - - - - 15.46 -
8309.72 88.13 8.77 833 8341.48 2.20 0.19 0.072 2688.62 239.5 3.54 0.107 3474.88 379.7 184.30 26.41 1.127 1747.47 -3.2 0.045 - - - - - - 15.57 15.19 11.31
8343.66 84.35 10.79 839 8350.46 roll 2.20 - - 2688.75 - 3.36 0.046 2074.06 -416.9 184.30 - - 1746.75 - - - - - - - - - 15.50 -
8409.83 77.79 9.82 846 8415.44 roll 2.24 - - 2688.44 - 3.85 0.126 660.81 -367.1 184.30 - - 1744.22 - - - - - - - - - 15.31 -
8495.21 67.92 12.46 863 8500.39 roll 2.24 - - 2688.56 - 3.45 0.041 2130.44 426.0 184.30 - - 1743.62 - - - - - - - - - 15.55 -
8559.79 62.02 8.94 870 8591.49 done 2.30 - - 2688.19 - 3.53 0.106 3474.12 380.6 205.91 26.26 1.085 1660.06 -3.2 0.033 - - - - - - - 15.14 11.57
8600.23 58.80 8.06 878 8641.32 2.39 0.21 0.073 2734.25 219.3 3.37 0.045 2076.38 -414.8 236.28 35.88 1.072 1537.38 -3.4 0.034 - - - - - - 15.34 15.52 11.69
8699.80 49.88 9.13 892 8705.47 roll 2.45 - - 2734.38 - 3.89 0.123 660.75 -363.9 236.28 - - 1533.38 - - - - - - - - - 15.25 -
8928.75 28.25 8.53 938 8966.10 done 2.53 - - 2733.88 - 3.47 0.041 2133.00 424.3 262.01 29.17 1.035 1432.56 -3.5 0.017 - - - - - - - 15.48 11.58
9024.85 22.42 5.67 951 9090.89 2.69 0.38 0.050 2809.00 197.7 4.04 0.121 660.75 -364.4 316.12 59.30 1.032 1211.22 -3.7 0.015 - - - - - - 15.46 14.99 11.62
9145.50 12.00 9.89 975 9150.46 roll 2.73 - - 2809.00 - 3.46 0.039 2131.31 425.0 316.12 - - 1209.31 - - - - - - - - - 15.39 -
9209.85 5.56 10.24 982 9211.18 no move 2.75 - - 2809.12 - - - 2131.12 - 316.12 - - 1208.03 - - - - - - - - - - -
9249 end climb: SURFACE_DEPTH_REACHED
9249 begin surface coast
9269 end surface coast: CONTROL_FINISHED_OK
9269 begin surface
SM -0.65 - - - - 174.1 2.12 0.289 564.5 266.3 18.83 0.093 558.2 29.6 - 0.11 0.132 570.8 5189.1 2.612 - - 11.62 15.13 15.46 -