NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1157 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 315.37 of 575.00 AH used of 24V (45.15% remains)
• Surface angle -62.6 deg, depth -1.52 m • Intended pitch -27.4 deg, speed -11.111 cm/s
VBD pumped to 474.72 (SM_CC=475)
• GPS1 time: 30 s
• GPS2 time: 2 s • Transponder ping count: 19
• 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
8.50 - - - 90.33 VBD -1.59 - - 170.19 - - - 2085.12 - -74.33 81.42 0.005 2416.56 - - - - - - - - - - 14.69
90.58 3.04 -6.71 8 126.68 -1.72 14.23 0.256 1721.88 109.0 3.86 0.112 3475.12 360.1 -118.15 12.82 0.006 2980.97 44.0 -4.006 - - - - - - 14.82 14.64 14.87
163.81 20.86 -22.07 23 170.61 roll -1.72 - - 1722.50 - 3.46 0.053 2081.06 -402.9 -118.15 - - 2981.03 - - - - - - - - - 15.31 -
229.96 33.60 -18.71 30 235.56 roll -1.72 - - 1721.69 - 3.77 0.100 3475.81 370.0 -118.15 - - 2981.41 - - - - - - - - - 15.17 -
285.37 44.24 -18.28 41 290.53 roll -1.72 - - 1720.56 - 3.41 0.050 2080.44 -409.2 -118.15 - - 2982.38 - - - - - - - - - 15.31 -
349.97 55.21 -17.37 48 351.30 no move -1.72 - - 1721.88 - - - 2080.94 - -118.15 - - 2981.91 - - - - - - - - - - -
409.93 65.28 -16.67 54 415.59 roll -1.72 - - 1720.44 - 3.74 0.099 3475.62 372.9 -118.15 - - 2982.97 - - - - - - - - - 15.14 -
428.84 68.49 -15.65 58 435.61 roll -1.72 - - 1721.81 - 3.39 0.047 2079.88 -411.7 -118.15 - - 2982.22 - - - - - - - - - 15.28 -
494.98 78.04 -15.03 65 496.31 no move -1.72 - - 1721.75 - - - 2080.00 - -118.15 - - 2982.06 - - - - - - - - - - -
555.06 86.21 -13.79 71 560.60 roll -1.72 - - 1721.56 - 3.76 0.100 3474.06 370.8 -118.15 - - 2981.19 - - - - - - - - - 15.13 -
600.40 92.43 -13.65 80 605.54 roll -1.72 - - 1721.38 - 3.38 0.048 2080.69 -412.2 -118.15 - - 2980.56 - - - - - - - - - 15.30 -
665.00 100.47 -12.26 87 670.65 roll -1.72 - - 1721.75 - 4.05 0.145 662.00 -350.3 -118.15 - - 2982.94 - - - - - - - - - 14.97 -
690.39 103.36 -11.79 92 695.57 roll -1.72 - - 1721.50 - 3.49 0.046 2122.69 418.5 -118.15 - - 2980.22 - - - - - - - - - 15.38 -
755.00 111.31 -11.48 99 760.60 roll -1.72 - - 1722.06 - 3.61 0.104 3475.44 374.7 -118.15 - - 2980.38 - - - - - - - - - 15.11 -
810.42 117.95 -12.60 110 815.56 roll -1.72 - - 1721.94 - 3.39 0.050 2081.56 -411.2 -118.15 - - 2982.53 - - - - - - - - - 15.29 -
875.02 124.69 -10.02 117 876.35 no move -1.72 - - 1721.56 - - - 2080.94 - -118.15 - - 2981.66 - - - - - - - - - - -
934.97 130.72 -10.86 123 936.30 no move -1.72 - - 1721.75 - - - 2081.12 - -118.15 - - 2982.69 - - - - - - - - - - -
994.98 137.44 -11.22 129 1000.64 roll -1.72 - - 1720.75 - 3.78 0.103 3475.75 368.9 -118.15 - - 2984.03 - - - - - - - - - 15.07 -
1090.43 149.89 -13.84 148 1095.60 roll -1.72 - - 1721.38 - 3.41 0.054 2082.25 -408.7 -118.15 - - 2981.41 - - - - - - - - - 15.26 -
1154.99 157.00 -10.83 155 1160.71 roll -1.72 - - 1722.00 - 4.04 0.147 663.00 -351.3 -118.15 - - 2980.69 - - - - - - - - - 14.93 -
1170.44 158.67 -11.11 158 1175.62 roll -1.72 - - 1722.25 - 3.53 0.046 2123.94 413.9 -118.15 - - 2980.72 - - - - - - - - - 15.37 -
1295.02 173.33 -11.76 171 1296.35 no move -1.72 - - 1721.38 - - - 2124.25 - -118.15 - - 2982.44 - - - - - - - - - - -
1415.02 187.44 -11.62 183 1420.66 roll -1.72 - - 1721.25 - 3.64 0.105 3475.50 371.2 -118.15 - - 2983.34 - - - - - - - - - 15.05 -
1490.53 196.73 -12.94 198 1495.64 roll -1.72 - - 1721.88 - 3.39 0.053 2080.62 -411.5 -118.15 - - 2982.62 - - - - - - - - - 15.25 -
1615.04 210.25 -10.53 211 1616.37 no move -1.72 - - 1722.00 - - - 2080.50 - -118.15 - - 2982.84 - - - - - - - - - - -
1735.05 222.93 -10.74 223 1736.38 no move -1.72 - - 1721.69 - - - 2080.88 - -118.15 - - 2981.09 - - - - - - - - - - -
1855.06 235.71 -10.43 235 1856.38 no move -1.72 - - 1722.12 - - - 2080.44 - -118.15 - - 2982.94 - - - - - - - - - - -
1975.07 249.15 -11.33 247 1980.73 roll -1.72 - - 1721.31 - 3.80 0.107 3474.56 366.9 -118.15 - - 2982.62 - - - - - - - - - 15.00 -
2003.97 252.94 -11.50 253 2009.67 roll -1.72 - - 1722.00 - 3.39 0.054 2081.06 -411.1 -118.15 - - 2982.19 - - - - - - - - - 15.20 -
2330.09 291.55 -12.06 268 2335.75 roll -1.72 - - 1721.25 - 3.80 0.108 3473.62 366.5 -118.15 - - 2982.78 - - - - - - - - - 14.97 -
2358.99 295.27 -12.40 274 2364.70 roll -1.72 - - 1721.81 - 3.42 0.054 2080.69 -407.3 -118.15 - - 2982.84 - - - - - - - - - 15.17 -
2685.11 334.73 -12.28 289 2690.78 roll -1.72 - - 1721.56 - 3.84 0.108 3474.56 363.0 -118.15 - - 2980.62 - - - - - - - - - 14.97 -
2740.56 341.97 -13.98 300 2745.73 roll -1.72 - - 1721.75 - 3.42 0.056 2080.75 -407.5 -118.15 - - 2981.12 - - - - - - - - - 15.18 -
3065.12 381.94 -12.12 315 3070.79 roll -1.72 - - 1721.94 - 3.85 0.109 3474.31 362.0 -118.15 - - 2982.03 - - - - - - - - - 14.94 -
3084.07 383.82 -11.64 319 3090.82 roll -1.72 - - 1721.12 - 3.43 0.055 2081.50 -406.1 -118.15 - - 2983.81 - - - - - - - - - 15.15 -
3390.12 419.73 -11.78 330 3395.80 roll -1.72 - - 1721.50 - 3.84 0.109 3476.31 363.2 -118.15 - - 2980.84 - - - - - - - - - 14.93 -
3429.03 424.48 -13.31 338 3434.74 roll -1.72 - - 1720.81 - 3.44 0.056 2081.88 -405.4 -118.15 - - 2983.34 - - - - - - - - - 15.13 -
3745.15 458.52 -11.25 351 3750.82 roll -1.72 - - 1721.50 - 3.85 0.111 3476.12 362.1 -118.15 - - 2982.38 - - - - - - - - - 14.91 -
3784.06 463.24 -12.48 359 3789.76 roll -1.72 - - 1721.38 - 3.45 0.058 2081.94 -404.1 -118.15 - - 2983.78 - - - - - - - - - 15.11 -
4100.17 497.95 -10.70 372 4105.85 roll -1.72 - - 1721.69 - 3.85 0.113 3475.12 361.9 -118.15 - - 2980.41 - - - - - - - - - 14.89 -
4113 end dive: TARGET_DEPTH_EXCEEDED
4113 begin apogee
4118.92 500.42 -10.92 375 4221.96 -0.25 2.98 0.162 2079.88 120.2 0.08 0.237 2120.56 -16932.0 - 98.58 1.639 2499.53 -4.9 0.267 - - - - - - 14.84 14.84 11.13
4224 end apogee: CONTROL_FINISHED_OK
4225 begin climb
4225.17 504.00 - 380 4340.17 1.72 3.52 0.077 2563.88 137.5 - - 2120.81 - 118.15 106.64 1.580 2017.50 -4.5 0.259 - - - - - - 15.07 - 11.33
4637.35 470.19 9.38 394 4643.06 done 1.77 - - 2563.94 - 4.12 0.137 661.69 -354.2 118.15 - - 2003.94 - - - - - - - - - 15.15 -
4806.26 450.89 10.74 428 4813.08 done 1.77 - - 2563.69 - 3.52 0.046 2125.06 415.7 118.15 - - 2004.00 - - - - - - - - - 15.44 -
5112.38 420.35 10.19 439 5118.10 done 1.80 - - 2563.50 - 4.13 0.133 662.12 -354.2 118.15 - - 2001.03 - - - - - - - - - 15.14 -
5271.32 401.59 11.20 471 5277.02 done 1.80 - - 2563.38 - 3.53 0.047 2125.56 414.6 118.15 - - 2001.53 - - - - - - - - - 15.42 -
5587.42 370.31 9.55 484 5593.12 done 1.85 - - 2562.62 - 4.12 0.132 660.94 -355.5 118.15 - - 2001.44 - - - - - - - - - 15.07 -
5736.34 354.95 11.47 514 5742.11 1.85 0.16 0.083 2600.38 236.0 3.53 0.046 2126.00 415.0 118.15 - - 2001.41 - - - - - - - - 15.19 15.42 -
6062.44 323.68 8.80 529 6087.51 done 1.92 - - 2600.62 - 3.65 0.116 3473.12 369.1 141.17 19.80 1.368 1924.00 -3.9 0.166 - - - - - - - 15.25 11.42
6106.35 319.08 10.03 538 6112.02 roll 1.95 - - 2600.38 - 3.40 0.054 2078.94 -410.1 141.17 - - 1923.22 - - - - - - - - - 15.47 -
6422.46 286.51 9.98 551 6428.14 roll 1.99 - - 2600.88 - 3.98 0.133 660.69 -356.3 141.17 - - 1917.53 - - - - - - - - - 15.16 -
6431.38 285.46 9.85 553 6437.12 roll back 2.02 0.19 0.074 2643.19 222.7 3.49 0.043 2127.12 420.2 141.17 - - 1918.75 - - - - - - - - 15.27 15.49 -
6747.52 251.66 10.57 566 6753.10 roll 2.04 - - 2643.06 - 3.67 0.113 3473.31 366.8 141.17 - - 1917.69 - - - - - - - - - 15.15 -
6976.40 225.58 11.74 612 6983.20 roll 2.04 - - 2642.56 - 3.43 0.054 2078.56 -406.6 141.17 - - 1918.19 - - - - - - - - - 15.30 -
7102.52 212.53 10.33 625 7108.23 roll 2.06 - - 2643.31 - 3.96 0.131 660.94 -358.0 141.17 - - 1916.84 - - - - - - - - - 15.05 -
7167.97 204.90 11.72 638 7173.13 roll 2.06 - - 2644.19 - 3.49 0.044 2127.19 420.1 141.17 - - 1915.44 - - - - - - - - - 15.44 -
7292.60 192.43 9.65 651 7298.24 roll 2.11 - - 2643.69 - 4.09 0.125 660.88 -358.5 141.17 - - 1917.16 - - - - - - - - - 15.05 -
7337.98 187.70 11.90 660 7343.15 roll 2.11 - - 2643.69 - 3.48 0.042 2128.12 421.6 141.17 - - 1915.25 - - - - - - - - - 15.45 -
7462.56 176.96 8.94 673 7488.72 done 2.17 - - 2642.88 - 4.01 0.127 659.69 -366.2 162.78 20.25 1.242 1834.56 -4.0 0.102 - - - - - - - 15.25 11.53
7558.02 166.36 13.04 692 7563.18 roll 2.17 - - 2643.75 - 3.50 0.044 2128.06 419.5 162.78 - - 1830.72 - - - - - - - - - 15.52 -
7682.59 153.51 10.23 705 7688.34 roll back 2.20 0.19 0.077 2685.38 219.1 4.06 0.125 660.94 -361.4 162.78 - - 1829.69 - - - - - - - - 15.56 15.22 -
7728.02 148.43 12.35 714 7733.22 roll 2.20 - - 2684.88 - 3.52 0.043 2128.06 416.8 162.78 - - 1829.56 - - - - - - - - - 15.50 -
7792.58 141.15 10.64 721 7793.90 no move 2.20 - - 2684.94 - - - 2128.94 - 162.78 - - 1830.16 - - - - - - - - - - -
7852.61 135.40 9.34 727 7853.94 no move 2.25 - - 2684.94 - - - 2128.44 - 162.78 - - 1830.09 - - - - - - - - - - -
7912.61 130.04 8.79 733 7944.46 done 2.32 - - 2684.31 - 4.04 0.126 659.56 -363.6 185.83 26.45 1.160 1742.16 -3.3 0.067 - - - - - - - 15.20 11.53
8013.15 117.77 13.46 753 8018.32 roll 2.32 - - 2684.94 - 3.51 0.044 2127.44 418.2 185.83 - - 1738.41 - - - - - - - - - 15.50 -
8077.69 110.07 11.91 760 8079.02 no move 2.32 - - 2685.12 - - - 2127.56 - 185.83 - - 1738.09 - - - - - - - - - - -
8137.71 103.07 11.59 766 8143.41 roll 2.32 - - 2685.06 - 4.05 0.123 660.81 -362.2 185.83 - - 1737.44 - - - - - - - - - 15.19 -
8216.61 92.37 13.08 782 8223.42 roll 2.32 - - 2684.81 - 3.50 0.044 2128.06 419.2 185.83 - - 1738.53 - - - - - - - - - 15.45 -
8282.70 84.70 11.69 789 8288.37 roll 2.32 - - 2683.31 - 3.61 0.109 3473.75 372.8 185.83 - - 1738.00 - - - - - - - - - 15.20 -
8348.18 78.00 10.04 802 8353.38 roll back 2.35 0.16 0.090 2718.81 221.9 3.41 0.053 2080.00 -408.7 185.83 - - 1737.84 - - - - - - - - 15.16 15.37 -
8412.73 72.09 8.71 809 8448.07 done 2.42 - - 2721.25 - 3.90 0.130 659.62 -364.2 209.73 28.65 1.100 1644.16 -3.3 0.038 - - - - - - - 15.18 11.61
8523.20 60.74 10.25 831 8528.36 roll 2.45 - - 2721.50 - 3.52 0.045 2130.75 417.9 209.73 - - 1641.69 - - - - - - - - - 15.50 -
8587.74 55.96 7.42 838 8639.83 2.56 0.27 0.066 2773.88 194.0 3.60 0.107 3473.62 373.0 246.47 42.66 1.085 1494.84 -3.4 0.032 - - - - - - 15.51 15.07 11.55
8678.56 48.32 10.23 856 8683.66 roll 2.59 - - 2772.06 - 3.41 0.052 2075.75 -409.9 246.47 - - 1493.59 - - - - - - - - - 15.38 -
8743.06 42.54 8.91 863 8774.80 done 2.65 - - 2774.31 - 3.90 0.129 659.81 -363.1 268.41 25.83 1.034 1406.06 -3.4 0.025 - - - - - - - 15.06 11.57
8883.55 28.85 10.11 891 8888.66 roll 2.68 - - 2774.00 - 3.53 0.045 2129.75 416.4 268.41 - - 1402.69 - - - - - - - - - 15.43 -
8953.10 23.20 7.69 899 8998.60 2.78 0.26 0.065 2828.44 209.4 3.59 0.105 3473.62 374.3 302.46 37.60 1.034 1266.31 -3.6 0.015 - - - - - - 15.45 15.09 11.55
9027.03 18.08 6.18 914 9085.86 done 2.93 - - 2827.62 - 3.40 0.050 2075.69 -411.2 351.51 53.34 1.021 1067.09 -3.7 0.012 - - - - - - - 15.39 11.55
9149.13 6.71 11.29 932 9154.78 roll 2.93 - - 2828.75 - 3.91 0.127 660.88 -361.8 351.51 - - 1063.91 - - - - - - - - - 15.15 -
9184.54 2.26 13.32 939 9188.64 roll 2.93 - - 2828.62 - 3.10 0.041 1952.94 416.8 351.51 - - 1064.16 - - - - - - - - - 15.40 -
9188 end climb: SURFACE_DEPTH_REACHED
9188 begin surface coast
9193 end surface coast: CONTROL_FINISHED_OK
9194 begin surface
SM -0.65 - - - - 171.4 - 0.013 564.8 - 19.20 0.088 557.2 29.0 - 0.34 0.077 572.2 1673.8 1.444 - - 30.36 15.12 15.41 -