NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 43 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 17.25 of 350.00 AH used of 24V (95.07% remains)
• Surface angle -61.2 deg, depth 1.15 m • Intended pitch -19.7 deg, speed -7.674 cm/s
VBD pumped to 425.09 (SM_CC=425)
• GPS1 time: 53 s
• GPS2 time: 3 s • Transponder ping count: 0
• 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
6.33 - - - 64.27 VBD -1.22 - - 179.00 - - - 2124.00 - -77.86 57.42 0.005 2176.69 - - - - - - - - - - 15.68
64.51 3.50 -5.03 11 101.77 -1.22 13.51 0.269 1842.94 123.2 4.09 0.169 663.31 -357.1 -77.86 15.21 0.006 2817.31 42.1 -4.056 - - - - - - 15.59 15.66 15.69
189.46 37.09 -30.97 36 195.16 roll -1.22 - - 1843.81 - 3.50 0.068 2127.62 418.4 -77.86 - - 2816.97 - - - - - - - - - 15.76 -
374.52 69.41 -14.55 73 380.19 roll -1.22 - - 1843.31 - 3.35 0.125 3475.62 402.4 -77.86 - - 2818.25 - - - - - - - - - 15.76 -
604.57 104.57 -13.87 119 609.13 roll -1.22 - - 1843.81 - 3.41 0.062 2092.94 -405.5 -77.86 - - 2818.31 - - - - - - - - - 15.87 -
914.60 137.69 -10.02 151 920.39 roll -1.22 - - 1842.69 - 3.97 0.166 663.62 -360.0 -77.86 - - 2818.81 - - - - - - - - - 15.89 -
1143.58 164.64 -12.13 197 1150.33 roll -1.22 - - 1843.62 - 3.46 0.065 2129.25 423.6 -77.86 - - 2820.00 - - - - - - - - - 15.96 -
1449.67 193.04 -9.68 228 1455.47 roll -1.22 - - 1843.00 - 4.05 0.169 663.88 -361.8 -77.86 - - 2819.66 - - - - - - - - - 15.95 -
1578.55 208.13 -12.00 254 1585.40 roll -1.22 - - 1843.62 - 3.44 0.067 2128.69 425.8 -77.86 - - 2820.06 - - - - - - - - - 16.00 -
1884.75 238.95 -10.30 285 1886.08 no move -1.22 - - 1843.56 - - - 2128.69 - -77.86 - - 2818.91 - - - - - - - - - - -
2184.81 270.48 -10.99 315 2190.62 roll -1.22 - - 1843.56 - 4.09 0.175 663.94 -358.1 -77.86 - - 2816.53 - - - - - - - - - 16.00 -
2299.85 284.97 -12.96 338 2304.42 roll -1.22 - - 1843.38 - 3.44 0.071 2129.69 426.1 -77.86 - - 2818.62 - - - - - - - - - 16.05 -
2609.91 316.85 -9.69 370 2615.73 roll -1.22 - - 1842.56 - 4.10 0.178 663.88 -357.5 -77.86 - - 2817.66 - - - - - - - - - 16.02 -
2648.80 321.36 -10.77 378 2655.63 roll -1.22 - - 1844.00 - 3.44 0.070 2128.81 425.9 -77.86 - - 2818.03 - - - - - - - - - 16.07 -
2955.00 351.96 -9.66 409 2956.33 no move -1.22 - - 1843.94 - - - 2128.81 - -77.86 - - 2816.84 - - - - - - - - - - -
3255.05 380.77 -9.83 439 3260.86 roll -1.22 - - 1842.00 - 4.09 0.181 663.56 -358.3 -77.86 - - 2816.31 - - - - - - - - - 16.04 -
3300.08 385.96 -12.50 448 3304.77 roll -1.22 - - 1843.94 - 3.44 0.074 2129.50 426.1 -77.86 - - 2815.47 - - - - - - - - - 16.09 -
3610.13 416.79 -10.05 480 3611.46 no move -1.22 - - 1844.00 - - - 2129.25 - -77.86 - - 2814.94 - - - - - - - - - - -
3910.19 446.87 -10.12 510 3911.52 no move -1.22 - - 1843.38 - - - 2129.69 - -77.86 - - 2814.03 - - - - - - - - - - -
4210.24 476.12 -9.30 540 4216.08 roll -1.22 - - 1842.44 - 4.12 0.187 664.00 -355.8 -77.86 - - 2813.19 - - - - - - - - - 16.07 -
4275.31 483.78 -11.07 553 4279.82 roll -1.22 - - 1843.62 - 3.47 0.079 2126.19 421.4 -77.86 - - 2813.06 - - - - - - - - - 16.11 -
4585.29 512.94 -9.43 585 4586.62 no move -1.22 - - 1843.19 - - - 2127.44 - -77.86 - - 2812.69 - - - - - - - - - - -
4885.32 540.36 -9.43 615 4889.88 roll -1.22 - - 1843.38 - 3.37 0.148 3474.12 399.6 -77.86 - - 2812.69 - - - - - - - - - 16.11 -
4925.35 544.40 -10.09 623 4929.91 roll -1.22 - - 1843.31 - 3.43 0.078 2095.56 -401.9 -77.86 - - 2811.97 - - - - - - - - - 16.13 -
5235.39 573.13 -9.10 655 5241.18 roll -1.22 - - 1843.62 - 4.09 0.198 663.50 -350.1 -77.86 - - 2810.47 - - - - - - - - - 16.08 -
5294.37 579.60 -10.36 667 5301.11 roll -1.22 - - 1843.62 - 3.49 0.080 2124.44 418.6 -77.86 - - 2809.56 - - - - - - - - - 16.13 -
5600.42 607.30 -9.08 698 5601.75 no move -1.22 - - 1843.81 - - - 2124.94 - -77.86 - - 2809.72 - - - - - - - - - - -
5900.46 634.05 -8.57 728 5901.79 no move -1.22 - - 1843.25 - - - 2124.94 - -77.86 - - 2809.50 - - - - - - - - - - -
6200.54 660.36 -9.51 758 6206.32 roll -1.22 - - 1842.62 - 4.16 0.196 663.69 -351.3 -77.86 - - 2808.72 - - - - - - - - - 16.09 -
6309.52 671.92 -11.04 780 6316.23 roll -1.22 - - 1842.94 - 3.53 0.085 2125.81 414.2 -77.86 - - 2808.75 - - - - - - - - - 16.15 -
6615.55 698.12 -8.45 811 6620.23 roll -1.22 - - 1843.06 - 3.38 0.150 3472.62 398.5 -77.86 - - 2806.53 - - - - - - - - - 16.12 -
6689.43 704.94 -9.63 826 6696.27 roll -1.22 - - 1843.56 - 3.44 0.082 2098.44 -399.5 -77.86 - - 2807.97 - - - - - - - - - 16.14 -
6995.60 730.00 -8.41 857 7001.43 roll -1.22 - - 1843.69 - 4.11 0.204 663.56 -349.1 -77.86 - - 2806.66 - - - - - - - - - 16.09 -
7090.61 738.93 -9.49 876 7096.22 roll -1.22 - - 1842.94 - 3.51 0.084 2124.50 416.2 -77.86 - - 2806.72 - - - - - - - - - 16.14 -
7395.64 761.70 -6.04 907 7401.47 roll -1.22 - - 1843.38 - 4.18 0.200 663.94 -349.4 -77.86 - - 2804.25 - - - - - - - - - 16.08 -
7474.65 769.26 -8.78 923 7481.37 roll -1.22 - - 1843.44 - 3.52 0.086 2127.25 415.7 -77.86 - - 2806.47 - - - - - - - - - 16.14 -
7780.69 791.91 -7.34 954 7782.02 no move -1.22 - - 1843.81 - - - 2127.19 - -77.86 - - 2804.41 - - - - - - - - - - -
8080.74 815.42 -6.74 984 8082.07 no move -1.22 - - 1843.25 - - - 2126.69 - -77.86 - - 2805.91 - - - - - - - - - - -
8380.80 838.70 -7.70 1014 8382.13 no move -1.22 - - 1843.62 - - - 2126.88 - -77.86 - - 2803.66 - - - - - - - - - - -
8680.86 863.10 -7.89 1044 8686.58 roll -1.22 - - 1843.19 - 4.22 0.204 665.00 -346.4 -77.86 - - 2803.78 - - - - - - - - - 16.10 -
8735.93 868.39 -9.43 1055 8741.48 roll -1.22 - - 1843.31 - 3.53 0.089 2124.62 413.5 -77.86 - - 2803.75 - - - - - - - - - 16.14 -
9040.95 892.49 -8.32 1086 9046.67 roll -1.22 - - 1842.88 - 4.18 0.203 664.00 -349.4 -77.86 - - 2803.88 - - - - - - - - - 16.09 -
9079.98 896.18 -9.23 1094 9086.80 roll -1.22 - - 1843.81 - 3.50 0.089 2125.25 417.5 -77.86 - - 2805.62 - - - - - - - - - 16.14 -
9386.03 918.11 -7.51 1125 9390.71 roll -1.22 - - 1843.75 - 3.38 0.155 3474.69 399.2 -77.86 - - 2804.28 - - - - - - - - - 16.12 -
9466.07 924.33 -7.77 1141 9470.63 roll -1.22 - - 1844.06 - 3.40 0.086 2099.12 -404.6 -77.86 - - 2804.22 - - - - - - - - - 16.13 -
9776.12 944.36 -6.33 1173 9781.95 roll -1.22 - - 1843.00 - 4.13 0.212 664.25 -347.4 -77.86 - - 2802.97 - - - - - - - - - 16.09 -
9861.16 951.02 -8.30 1190 9866.73 roll -1.22 - - 1841.75 - 3.50 0.091 2124.44 417.2 -77.86 - - 2804.19 - - - - - - - - - 16.14 -
10166.22 970.27 -6.57 1221 10167.55 no move -1.22 - - 1843.31 - - - 2124.62 - -77.86 - - 2801.59 - - - - - - - - - - -
10466.26 989.29 -6.71 1251 10467.59 no move -1.22 - - 1843.38 - - - 2125.12 - -77.86 - - 2802.09 - - - - - - - - - - -
10477 end dive: TARGET_DEPTH_EXCEEDED
10477 begin apogee
10477.38 990.59 -7.34 1252 10544.08 -0.25 1.66 0.170 2080.88 143.1 0.06 0.355 2138.12 216.7 - 63.13 2.291 2498.03 -4.8 0.344 - - - - - - 16.09 15.63 13.28
10551 end apogee: CONTROL_FINISHED_OK
10552 begin climb
10551.27 991.07 - 1258 10627.79 1.22 2.42 0.107 2439.38 148.1 - - 2137.69 - 77.86 72.47 2.229 2181.09 -4.4 0.321 - - - - - - 15.66 - 12.99
10925.95 956.07 10.22 1297 10931.33 done 1.22 - - 2439.31 - 3.47 0.151 3473.44 384.9 77.86 - - 2167.72 - - - - - - - - - 15.66 -
10964.64 951.37 14.71 1305 10971.47 done 1.22 - - 2439.25 - 3.40 0.080 2135.19 -393.6 77.86 - - 2169.56 - - - - - - - - - 15.69 -
11270.83 920.53 11.13 1336 11275.39 done 1.22 - - 2438.81 - 3.45 0.148 3473.12 387.8 77.86 - - 2165.03 - - - - - - - - - 15.79 -
11290.84 918.90 9.22 1340 11295.40 done 1.22 - - 2439.19 - 3.38 0.076 2136.25 -395.5 77.86 - - 2165.62 - - - - - - - - - 15.81 -
11600.94 888.86 9.43 1372 11605.60 done 1.22 - - 2439.31 - 3.44 0.148 3474.19 388.9 77.86 - - 2161.56 - - - - - - - - - 15.87 -
11674.80 881.41 8.62 1387 11681.75 done 1.22 - - 2439.31 - 3.37 0.078 2135.62 -397.2 77.86 - - 2163.31 - - - - - - - - - 15.90 -
11981.00 853.00 8.80 1418 11985.57 done 1.22 - - 2439.00 - 3.40 0.147 3472.75 393.3 77.86 - - 2162.50 - - - - - - - - - 15.92 -
11991.00 851.49 10.28 1420 11995.54 done 1.22 - - 2438.69 - 3.30 0.076 2134.81 -405.4 77.86 - - 2163.69 - - - - - - - - - 15.95 -
12301.07 824.38 7.56 1452 12305.61 done 1.22 - - 2438.44 - 3.36 0.147 3473.19 398.3 77.86 - - 2164.25 - - - - - - - - - 15.96 -
12324.94 821.32 7.46 1457 12331.76 done 1.22 - - 2439.69 - 3.33 0.076 2134.31 -402.1 77.86 - - 2163.09 - - - - - - - - - 15.96 -
12631.14 795.17 9.65 1488 12635.70 done 1.22 - - 2439.12 - 3.42 0.146 3473.50 391.6 77.86 - - 2162.50 - - - - - - - - - 15.99 -
12651.15 793.58 8.65 1492 12655.67 done 1.22 - - 2439.56 - 3.30 0.075 2133.88 -405.9 77.86 - - 2162.09 - - - - - - - - - 16.01 -
12961.22 766.77 8.78 1524 12965.89 done 1.22 - - 2439.88 - 3.38 0.146 3474.25 396.6 77.86 - - 2160.62 - - - - - - - - - 16.00 -
12991.22 763.62 8.71 1530 12995.91 done 1.22 - - 2439.50 - 3.33 0.077 2136.44 -401.7 77.86 - - 2160.53 - - - - - - - - - 16.02 -
13301.26 737.24 8.43 1562 13307.07 done 1.22 - - 2439.94 - 4.01 0.174 688.50 -361.1 77.86 - - 2157.56 - - - - - - - - - 16.00 -
13366.32 730.51 9.76 1575 13371.00 done 1.22 - - 2438.50 - 3.52 0.073 2168.56 420.5 77.86 - - 2159.91 - - - - - - - - - 16.04 -
13676.32 705.50 8.46 1607 13680.84 done 1.22 - - 2440.00 - 3.28 0.149 3474.19 398.1 77.86 - - 2159.47 - - - - - - - - - 16.03 -
13726.33 701.23 8.39 1617 13730.88 done 1.22 - - 2440.12 - 3.32 0.077 2134.06 -403.7 77.86 - - 2160.12 - - - - - - - - - 16.05 -
14036.37 677.31 7.25 1649 14040.91 done 1.22 - - 2439.56 - 3.38 0.143 3473.94 396.4 77.86 - - 2159.69 - - - - - - - - - 16.04 -
14096.38 672.14 8.63 1661 14100.96 done 1.22 - - 2439.25 - 3.33 0.078 2133.75 -402.5 77.86 - - 2159.62 - - - - - - - - - 16.07 -
14406.43 650.38 6.65 1693 14412.23 done 1.24 - - 2439.75 - 4.03 0.175 689.25 -358.4 77.86 - - 2156.34 - - - - - - - - - 16.04 -
14451.43 646.53 7.30 1702 14456.15 done 1.24 - - 2439.94 - 3.51 0.070 2172.12 422.5 77.86 - - 2157.97 - - - - - - - - - 16.08 -
14761.47 624.86 7.05 1734 14767.29 done 1.25 - - 2440.00 - 4.11 0.169 688.44 -361.0 77.86 - - 2157.00 - - - - - - - - - 16.05 -
14816.51 620.63 8.01 1745 14821.17 done 1.25 - - 2439.88 - 3.47 0.070 2171.25 427.3 77.86 - - 2158.88 - - - - - - - - - 16.08 -
15126.51 600.30 6.49 1777 15131.03 done 1.28 - - 2439.19 - 3.23 0.146 3474.88 403.6 77.86 - - 2158.78 - - - - - - - - - 16.07 -
15186.51 596.12 7.23 1789 15191.19 done 1.28 - - 2439.38 - 3.29 0.074 2133.56 -407.7 77.86 - - 2157.25 - - - - - - - - - 16.09 -
15496.57 577.02 6.09 1821 15501.11 done 1.31 - - 2439.50 - 3.36 0.142 3474.44 399.1 77.86 - - 2157.38 - - - - - - - - - 16.08 -
15616.58 568.59 7.35 1845 15621.12 done 1.31 - - 2439.69 - 3.31 0.074 2132.25 -405.5 77.86 - - 2159.03 - - - - - - - - - 16.10 -
15926.63 549.92 5.94 1877 15932.22 1.34 0.16 0.128 2474.56 217.9 3.38 0.142 3474.12 397.0 77.86 - - 2155.75 - - - - - - - - 16.08 16.08 -
15981.63 545.18 8.46 1888 15986.17 done 1.34 - - 2475.62 - 3.31 0.075 2133.00 -405.2 77.86 - - 2157.59 - - - - - - - - - 16.10 -
16291.67 524.15 6.59 1920 16297.45 done 1.36 - - 2475.06 - 3.97 0.170 688.38 -363.9 77.86 - - 2156.22 - - - - - - - - - 16.07 -
16300.61 523.36 6.82 1922 16307.37 done 1.38 - - 2474.38 - 3.45 0.065 2172.31 430.1 77.86 - - 2158.22 - - - - - - - - - 16.10 -
16606.71 502.57 6.98 1953 16608.04 VBD 1.40 - - 2474.81 - - - 2171.88 - 77.86 - - 2156.38 - - - - - - - - - - -
16906.76 483.15 6.28 1983 16911.27 done 1.42 - - 2475.75 - 3.23 0.142 3474.31 403.2 77.86 - - 2157.84 - - - - - - - - - 16.09 -
17020.73 475.38 7.35 2006 17027.66 done 1.42 - - 2474.19 - 3.28 0.075 2133.38 -408.8 77.86 - - 2159.34 - - - - - - - - - 16.10 -
17326.88 456.94 5.84 2037 17332.65 done 1.46 - - 2473.06 - 3.95 0.168 688.25 -365.9 77.86 - - 2158.03 - - - - - - - - - 16.07 -
17411.89 450.83 7.62 2054 17416.46 done 1.46 - - 2475.12 - 3.48 0.068 2171.31 426.2 77.86 - - 2155.88 - - - - - - - - - 16.10 -
17721.97 431.46 7.09 2086 17726.48 done 1.47 - - 2475.06 - 3.23 0.141 3475.25 403.7 77.86 - - 2156.75 - - - - - - - - - 16.09 -
17765.84 428.41 7.30 2095 17772.65 done 1.47 - - 2475.50 - 3.24 0.070 2130.75 -415.0 77.86 - - 2155.81 - - - - - - - - - 16.11 -
18072.05 409.52 6.47 2126 18077.64 1.50 0.17 0.123 2506.31 181.2 3.35 0.139 3474.25 401.0 77.86 - - 2156.84 - - - - - - - - 16.09 16.10 -
18137.06 404.94 7.25 2139 18141.59 done 1.50 - - 2508.75 - 3.28 0.071 2130.69 -409.6 77.86 - - 2156.81 - - - - - - - - - 16.11 -
18447.23 385.71 6.04 2171 18453.00 done 1.53 - - 2508.69 - 3.90 0.165 686.31 -370.4 77.86 - - 2154.56 - - - - - - - - - 16.07 -
18496.08 382.06 7.30 2181 18502.99 done 1.53 - - 2508.81 - 3.48 0.066 2177.38 428.5 77.86 - - 2155.78 - - - - - - - - - 16.10 -
18802.22 366.02 5.03 2212 18835.41 1.65 0.19 0.117 2544.75 189.2 - - 2177.19 - 117.96 31.72 1.530 2017.12 -4.4 0.173 - - - - - - 16.09 - 13.28
19132.25 337.05 9.88 2245 19133.58 VBD 1.65 - - 2544.62 - - - 2176.81 - 117.96 - - 2011.31 - - - - - - - - - - -
19432.28 307.26 10.73 2275 19436.81 done 1.65 - - 2544.06 - 3.24 0.141 3475.50 400.8 117.96 - - 2010.78 - - - - - - - - - 15.97 -
19482.30 301.69 11.92 2285 19486.83 done 1.65 - - 2544.88 - 3.30 0.071 2133.19 -406.8 117.96 - - 2010.66 - - - - - - - - - 16.01 -
19792.34 271.93 9.54 2317 19796.88 done 1.65 - - 2543.31 - 3.37 0.136 3472.81 397.5 117.96 - - 2010.81 - - - - - - - - - 15.99 -
19882.44 262.56 10.17 2335 19886.90 done 1.65 - - 2544.56 - 3.29 0.071 2131.81 -407.6 117.96 - - 2010.62 - - - - - - - - - 16.04 -
20192.40 233.76 8.32 2367 20197.09 done 1.65 - - 2545.31 - 3.35 0.135 3474.25 400.7 117.96 - - 2009.28 - - - - - - - - - 16.04 -
20312.42 222.14 9.63 2391 20316.96 done 1.65 - - 2545.25 - 3.25 0.071 2131.19 -413.2 117.96 - - 2009.00 - - - - - - - - - 16.04 -
20622.46 196.99 7.97 2423 20627.00 done 1.65 - - 2543.94 - 3.34 0.135 3474.19 402.1 117.96 - - 2009.59 - - - - - - - - - 16.05 -
20736.40 187.20 8.34 2446 20743.16 done 1.65 - - 2545.06 - 3.29 0.069 2132.44 -407.8 117.96 - - 2008.84 - - - - - - - - - 16.07 -
21042.54 165.89 6.21 2477 21047.07 done 1.68 - - 2544.31 - 3.36 0.131 3474.44 399.4 117.96 - - 2009.31 - - - - - - - - - 16.06 -
21272.60 150.39 6.81 2523 21277.10 done 1.70 - - 2543.88 - 3.27 0.067 2129.19 -411.4 117.96 - - 2010.00 - - - - - - - - - 16.07 -
21582.63 142.43 2.01 2555 21655.94 1.95 0.44 0.094 2617.00 166.2 3.38 0.133 3474.88 398.1 203.91 68.13 1.308 1667.97 -5.0 0.090 - - - - - - 16.05 15.73 13.27
21878.69 110.06 13.21 2614 21883.24 done 1.95 - - 2618.56 - 3.32 0.068 2132.88 -404.2 203.91 - - 1660.44 - - - - - - - - - 15.84 -
22183.77 81.59 7.14 2667 22189.45 done 1.96 - - 2617.50 - 3.34 0.128 3475.25 401.9 203.91 - - 1658.81 - - - - - - - - - 15.89 -
22413.89 66.62 5.40 2713 22449.22 done 2.07 - - 2618.38 - 3.31 0.065 2129.25 -406.6 238.37 27.53 1.158 1528.19 -4.7 0.045 - - - - - - - 15.93 13.10
22628.96 51.63 6.37 2756 22634.80 roll back 2.09 0.18 0.116 2652.94 192.0 3.92 0.157 687.69 -367.7 238.37 - - 1522.44 - - - - - - - - 15.84 15.84 -
22859.04 44.99 1.40 2802 22941.25 2.38 0.41 0.086 2722.06 168.6 3.48 0.060 2180.44 429.0 333.53 73.68 1.143 1139.66 -5.2 0.034 - - - - - - 15.88 15.89 13.11
23119.12 31.38 6.93 2854 23124.92 roll 2.39 - - 2722.50 - 4.12 0.148 687.44 -362.4 333.53 - - 1134.44 - - - - - - - - - 15.72 -
23299.19 14.51 11.52 2890 23304.89 roll 2.39 - - 2722.00 - 3.53 0.060 2176.31 421.8 333.53 - - 1133.94 - - - - - - - - - 15.79 -
23415 end climb: SURFACE_DEPTH_REACHED
23415 begin surface coast
23435 end surface coast: CONTROL_FINISHED_OK
23435 begin surface
SM 1.47 - - - - 183.8 - - 767.1 - 16.42 0.092 766.4 46.7 - 0.19 0.113 767.8 4022.5 -5.348 - - 30.00 15.81 15.85 -