NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 477 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 142.11 of 575.00 AH used of 24V (75.28% remains)
• Surface angle -65.9 deg, depth 0.49 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.91 (SM_CC=425)
• GPS1 time: 32 s
• GPS2 time: 2 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
7.20 - - - 91.08 VBD -1.25 - - 174.06 - - - 2113.50 - -77.86 83.26 0.005 2563.38 - - - - - - - - - - 15.22
91.35 3.69 -5.06 16 122.69 -1.25 14.43 0.260 1835.69 115.2 4.14 0.156 662.50 -350.5 -77.86 6.01 0.008 2816.22 42.1 -3.340 - - - - - - 15.41 15.23 15.31
235.47 38.79 -23.37 45 241.28 roll -1.25 - - 1835.88 - 3.61 0.054 2119.06 403.5 -77.86 - - 2816.62 - - - - - - - - - 15.61 -
420.51 75.72 -16.97 82 426.29 roll -1.25 - - 1835.62 - 3.67 0.112 3473.38 369.0 -77.86 - - 2816.66 - - - - - - - - - 15.66 -
520.61 90.98 -14.37 102 526.26 roll -1.25 - - 1835.81 - 3.37 0.058 2081.25 -413.1 -77.86 - - 2817.09 - - - - - - - - - 15.71 -
705.56 112.82 -10.73 128 706.88 no move -1.25 - - 1836.06 - - - 2081.25 - -77.86 - - 2816.97 - - - - - - - - - - -
1005.59 144.18 -10.88 158 1011.35 roll -1.25 - - 1835.50 - 3.97 0.151 663.62 -357.1 -77.86 - - 2816.69 - - - - - - - - - 15.72 -
1084.53 154.84 -13.05 174 1091.37 roll -1.25 - - 1835.38 - 3.58 0.053 2119.75 406.7 -77.86 - - 2817.41 - - - - - - - - - 15.80 -
1390.64 187.20 -10.68 205 1391.97 no move -1.25 - - 1835.75 - - - 2120.00 - -77.86 - - 2817.56 - - - - - - - - - - -
1690.69 220.48 -11.03 235 1692.01 no move -1.25 - - 1835.69 - - - 2120.00 - -77.86 - - 2816.53 - - - - - - - - - - -
1990.75 254.08 -10.61 265 1992.08 no move -1.25 - - 1836.06 - - - 2119.44 - -77.86 - - 2816.56 - - - - - - - - - - -
2290.81 286.69 -9.80 295 2292.14 no move -1.25 - - 1835.00 - - - 2119.81 - -77.86 - - 2816.47 - - - - - - - - - - -
2590.88 317.70 -9.89 325 2592.21 no move -1.25 - - 1835.88 - - - 2119.50 - -77.86 - - 2815.78 - - - - - - - - - - -
2890.95 348.25 -9.75 355 2892.28 no move -1.25 - - 1835.12 - - - 2119.44 - -77.86 - - 2816.34 - - - - - - - - - - -
3191.00 378.06 -9.99 385 3196.78 roll -1.25 - - 1835.94 - 4.10 0.154 662.38 -355.4 -77.86 - - 2817.25 - - - - - - - - - 15.80 -
3256.11 385.46 -11.34 398 3261.72 roll -1.25 - - 1835.50 - 3.54 0.056 2117.94 411.2 -77.86 - - 2815.34 - - - - - - - - - 15.89 -
3561.09 414.93 -9.83 429 3562.42 no move -1.25 - - 1835.19 - - - 2117.75 - -77.86 - - 2816.47 - - - - - - - - - - -
3861.15 444.40 -9.77 459 3866.92 roll -1.25 - - 1835.44 - 4.06 0.155 663.69 -358.1 -77.86 - - 2815.50 - - - - - - - - - 15.80 -
3930.16 452.70 -12.93 473 3936.95 roll -1.25 - - 1835.75 - 3.51 0.056 2116.88 414.0 -77.86 - - 2817.41 - - - - - - - - - 15.89 -
4236.21 483.88 -9.62 504 4237.54 no move -1.25 - - 1835.19 - - - 2116.56 - -77.86 - - 2816.09 - - - - - - - - - - -
4536.24 514.07 -10.14 534 4542.01 roll -1.25 - - 1835.50 - 4.10 0.159 663.44 -354.4 -77.86 - - 2816.22 - - - - - - - - - 15.79 -
4611.35 522.43 -11.35 549 4616.94 roll -1.25 - - 1836.00 - 3.53 0.056 2117.81 412.0 -77.86 - - 2814.62 - - - - - - - - - 15.89 -
4916.29 553.03 -9.49 580 4917.62 no move -1.25 - - 1835.25 - - - 2117.81 - -77.86 - - 2814.84 - - - - - - - - - - -
5216.32 582.23 -10.36 610 5217.65 no move -1.25 - - 1835.81 - - - 2118.12 - -77.86 - - 2815.78 - - - - - - - - - - -
5516.35 610.66 -8.85 640 5517.68 no move -1.25 - - 1835.62 - - - 2117.88 - -77.86 - - 2814.06 - - - - - - - - - - -
5816.39 638.82 -9.59 670 5817.72 no move -1.25 - - 1835.88 - - - 2117.56 - -77.86 - - 2815.28 - - - - - - - - - - -
6116.42 665.60 -9.07 700 6122.21 roll -1.25 - - 1834.38 - 4.15 0.164 663.62 -350.3 -77.86 - - 2815.88 - - - - - - - - - 15.77 -
6195.36 673.65 -11.19 716 6202.20 roll -1.25 - - 1835.62 - 3.58 0.059 2116.00 405.7 -77.86 - - 2814.66 - - - - - - - - - 15.90 -
6501.48 699.10 -8.02 747 6507.26 roll -1.25 - - 1835.50 - 4.16 0.164 663.12 -349.2 -77.86 - - 2813.16 - - - - - - - - - 15.77 -
6550.42 703.82 -10.31 757 6557.25 roll -1.25 - - 1835.25 - 3.57 0.058 2116.00 407.0 -77.86 - - 2814.75 - - - - - - - - - 15.89 -
6856.54 729.26 -7.82 788 6857.87 no move -1.25 - - 1835.69 - - - 2115.19 - -77.86 - - 2811.91 - - - - - - - - - - -
7156.55 754.73 -8.18 818 7157.88 no move -1.25 - - 1834.81 - - - 2115.94 - -77.86 - - 2812.09 - - - - - - - - - - -
7456.59 781.28 -8.95 848 7457.92 no move -1.25 - - 1835.75 - - - 2115.69 - -77.86 - - 2812.00 - - - - - - - - - - -
7756.62 807.03 -9.16 878 7762.41 roll -1.25 - - 1834.31 - 4.18 0.169 663.75 -347.4 -77.86 - - 2814.50 - - - - - - - - - 15.75 -
7861.64 817.60 -9.93 899 7867.34 roll -1.25 - - 1834.88 - 3.61 0.065 2115.44 402.1 -77.86 - - 2811.41 - - - - - - - - - 15.89 -
8166.70 842.65 -7.38 930 8168.03 no move -1.25 - - 1835.56 - - - 2116.31 - -77.86 - - 2810.22 - - - - - - - - - - -
8466.75 866.22 -7.43 960 8472.54 roll -1.25 - - 1834.94 - 4.20 0.170 663.19 -346.0 -77.86 - - 2811.41 - - - - - - - - - 15.74 -
8551.78 874.63 -9.49 977 8557.48 roll -1.25 - - 1835.44 - 3.58 0.066 2115.44 405.7 -77.86 - - 2809.97 - - - - - - - - - 15.88 -
8856.85 897.82 -7.47 1008 8858.17 no move -1.25 - - 1835.81 - - - 2115.19 - -77.86 - - 2811.53 - - - - - - - - - - -
9156.92 921.05 -8.48 1038 9158.25 no move -1.25 - - 1835.50 - - - 2115.19 - -77.86 - - 2810.19 - - - - - - - - - - -
9456.97 944.10 -8.14 1068 9458.30 no move -1.25 - - 1835.38 - - - 2115.12 - -77.86 - - 2810.88 - - - - - - - - - - -
9757.03 967.62 -7.77 1098 9758.36 no move -1.25 - - 1835.31 - - - 2115.31 - -77.86 - - 2810.81 - - - - - - - - - - -
10057 end dive: TARGET_DEPTH_EXCEEDED
10058 begin apogee
10058.34 990.41 -7.53 1128 10128.94 -0.25 1.83 0.150 2080.06 133.7 0.08 0.300 2185.94 882.9 - 67.71 2.275 2499.47 -4.6 0.345 - - - - - - 15.78 15.08 11.91
10131 end apogee: CONTROL_FINISHED_OK
10131 begin climb
10130.95 991.94 - 1135 10210.42 1.25 2.64 0.089 2446.38 138.8 - - 2185.31 - 77.86 75.35 2.217 2183.53 -4.2 0.323 - - - - - - 15.16 - 12.34
10507.16 962.28 8.58 1173 10512.95 done 1.25 - - 2447.88 - 3.74 0.131 3471.38 343.9 77.86 - - 2169.34 - - - - - - - - - 15.49 -
10622.19 951.95 7.77 1196 10626.74 done 1.25 - - 2447.69 - 3.29 0.064 2183.19 -391.5 77.86 - - 2170.16 - - - - - - - - - 15.57 -
10932.23 925.76 7.93 1228 10938.12 done 1.25 - - 2447.50 - 3.69 0.126 3473.25 349.6 77.86 - - 2166.81 - - - - - - - - - 15.65 -
10987.24 921.29 8.32 1239 10991.79 done 1.25 - - 2447.56 - 3.22 0.061 2181.62 -401.1 77.86 - - 2169.53 - - - - - - - - - 15.70 -
11297.27 895.74 8.09 1271 11303.03 done 1.25 - - 2447.69 - 3.64 0.125 3472.81 354.7 77.86 - - 2165.66 - - - - - - - - - 15.71 -
11382.36 888.57 8.65 1288 11386.82 done 1.25 - - 2447.69 - 3.20 0.061 2183.62 -402.9 77.86 - - 2166.31 - - - - - - - - - 15.74 -
11692.33 863.33 8.68 1320 11693.66 VBD 1.25 - - 2447.31 - - - 2182.56 - 77.86 - - 2164.69 - - - - - - - - - - -
11992.44 838.39 10.09 1350 11993.77 VBD 1.25 - - 2447.44 - - - 2183.19 - 77.86 - - 2163.72 - - - - - - - - - - -
12292.41 815.23 6.76 1380 12298.07 done 1.29 - - 2446.25 - 3.58 0.126 3472.31 360.1 77.86 - - 2164.53 - - - - - - - - - 15.76 -
12377.48 807.24 9.38 1397 12381.94 done 1.29 - - 2447.12 - 3.17 0.061 2182.44 -406.9 77.86 - - 2165.28 - - - - - - - - - 15.82 -
12687.44 782.85 8.29 1429 12688.78 VBD 1.29 - - 2447.06 - - - 2182.50 - 77.86 - - 2164.34 - - - - - - - - - - -
12987.48 759.96 8.17 1459 12988.81 VBD 1.29 - - 2446.50 - - - 2181.75 - 77.86 - - 2162.97 - - - - - - - - - - -
13287.51 736.34 7.80 1489 13293.20 done 1.29 - - 2445.31 - 3.64 0.124 3472.62 354.6 77.86 - - 2165.19 - - - - - - - - - 15.75 -
13366.43 729.11 9.12 1505 13373.21 done 1.29 - - 2446.69 - 3.15 0.059 2180.12 -410.3 77.86 - - 2164.03 - - - - - - - - - 15.85 -
13672.56 705.47 7.96 1536 13673.89 VBD 1.29 - - 2447.25 - - - 2179.94 - 77.86 - - 2161.00 - - - - - - - - - - -
13972.61 683.97 6.73 1566 13977.35 done 1.33 - - 2447.19 - 3.63 0.124 3471.94 355.9 77.86 - - 2161.44 - - - - - - - - - 15.78 -
14086.47 675.36 6.66 1589 14093.37 1.37 0.17 0.109 2480.81 197.8 3.16 0.060 2182.00 -408.2 77.86 - - 2163.97 - - - - - - - - 15.72 15.86 -
14392.66 652.86 7.88 1620 14393.99 VBD 1.37 - - 2481.88 - - - 2181.94 - 77.86 - - 2161.12 - - - - - - - - - - -
14692.69 630.67 8.05 1650 14694.02 VBD 1.37 - - 2482.69 - - - 2182.56 - 77.86 - - 2160.75 - - - - - - - - - - -
14992.77 609.09 7.05 1680 14994.10 VBD 1.40 - - 2482.38 - - - 2182.44 - 77.86 - - 2161.41 - - - - - - - - - - -
15292.83 588.07 6.85 1710 15298.58 done 1.44 - - 2482.81 - 3.63 0.124 3471.94 355.2 77.86 - - 2161.38 - - - - - - - - - 15.79 -
15351.69 583.32 7.65 1722 15358.54 done 1.44 - - 2482.56 - 3.17 0.058 2181.25 -407.2 77.86 - - 2161.66 - - - - - - - - - 15.85 -
15657.92 562.84 6.69 1753 15659.25 VBD 1.48 - - 2482.06 - - - 2181.56 - 77.86 - - 2161.50 - - - - - - - - - - -
15957.97 543.09 6.01 1783 15984.23 1.57 0.23 0.090 2528.44 201.7 - - 2181.38 - 106.97 24.67 1.700 2060.78 -4.1 0.225 - - - - - - 15.83 - 12.08
16278.03 515.04 9.34 1815 16283.79 roll 1.57 - - 2528.81 - 3.67 0.121 3472.31 351.8 106.97 - - 2057.41 - - - - - - - - - 15.68 -
16326.90 509.94 11.17 1825 16333.74 roll 1.57 - - 2528.50 - 3.19 0.057 2180.00 -405.1 106.97 - - 2057.94 - - - - - - - - - 15.73 -
16633.11 480.74 10.09 1856 16638.89 roll 1.57 - - 2527.38 - 3.64 0.118 3472.00 354.9 106.97 - - 2059.00 - - - - - - - - - 15.73 -
16698.15 474.09 10.23 1869 16702.80 roll 1.57 - - 2528.06 - 3.18 0.057 2181.19 -405.9 106.97 - - 2059.09 - - - - - - - - - 15.76 -
17008.18 446.02 9.57 1901 17009.51 no move 1.57 - - 2528.75 - - - 2181.69 - 106.97 - - 2055.44 - - - - - - - - - - -
17308.22 419.08 8.91 1931 17309.54 no move 1.57 - - 2528.31 - - - 2181.88 - 106.97 - - 2056.09 - - - - - - - - - - -
17608.25 391.33 8.84 1961 17614.00 roll 1.57 - - 2526.62 - 3.63 0.117 3473.06 355.7 106.97 - - 2057.78 - - - - - - - - - 15.69 -
17753.29 377.00 10.03 1990 17757.90 roll 1.57 - - 2529.12 - 3.17 0.057 2180.12 -407.9 106.97 - - 2056.69 - - - - - - - - - 15.80 -
18063.33 350.03 9.35 2022 18069.14 roll 1.57 - - 2529.12 - 3.99 0.135 735.25 -362.1 106.97 - - 2055.47 - - - - - - - - - 15.73 -
18138.42 342.72 9.66 2037 18143.95 done 1.57 - - 2528.56 - 3.60 0.053 2222.12 413.0 106.97 - - 2054.31 - - - - - - - - - 15.83 -
18443.39 318.55 7.84 2068 18448.12 done 1.57 - - 2529.19 - 3.47 0.116 3471.75 360.1 106.97 - - 2054.66 - - - - - - - - - 15.78 -
18547.31 308.69 9.70 2089 18554.10 done 1.57 - - 2529.25 - 3.14 0.054 2180.12 -411.3 106.97 - - 2054.56 - - - - - - - - - 15.83 -
18853.45 285.14 7.44 2120 18859.11 done 1.58 - - 2527.50 - 3.59 0.112 3473.31 360.2 106.97 - - 2055.84 - - - - - - - - - 15.79 -
18982.31 274.91 8.27 2146 18989.17 done 1.58 - - 2527.88 - 3.14 0.053 2177.81 -412.6 106.97 - - 2056.66 - - - - - - - - - 15.82 -
19288.52 252.72 7.37 2177 19289.85 VBD 1.61 - - 2528.19 - - - 2178.31 - 106.97 - - 2053.75 - - - - - - - - - - -
19588.55 232.04 6.73 2207 19589.88 VBD 1.64 - - 2529.00 - - - 2178.19 - 106.97 - - 2053.28 - - - - - - - - - - -
19888.58 211.29 6.37 2237 19894.35 done 1.70 - - 2529.00 - 3.65 0.114 3473.44 354.9 106.97 - - 2052.94 - - - - - - - - - 15.73 -
19983.59 204.04 8.02 2256 19988.13 done 1.70 - - 2528.62 - 3.17 0.054 2177.56 -408.8 106.97 - - 2054.69 - - - - - - - - - 15.74 -
20293.67 185.59 5.74 2288 20324.47 1.79 0.29 0.083 2583.00 187.5 - - 2177.62 - 139.88 28.89 1.309 1929.56 -4.3 0.106 - - - - - - 15.79 - 12.08
20623.67 155.51 9.96 2321 20625.00 no move 1.79 - - 2582.31 - - - 2177.38 - 139.88 - - 1923.09 - - - - - - - - - - -
20923.73 126.89 8.46 2351 20925.06 no move 1.79 - - 2583.00 - - - 2178.38 - 139.88 - - 1922.41 - - - - - - - - - - -
21223.79 105.64 5.15 2381 21265.29 done 1.92 - - 2583.00 - 3.69 0.114 3471.06 350.3 181.25 35.70 1.224 1759.59 -4.6 0.068 - - - - - - - 15.51 12.24
21488.88 84.13 8.62 2434 21494.59 roll 1.92 - - 2584.31 - 3.23 0.053 2179.69 -399.8 181.25 - - 1755.41 - - - - - - - - - 15.63 -
21673.97 72.38 5.25 2471 21715.61 2.04 0.33 0.077 2640.94 171.6 3.62 0.111 3472.94 357.3 221.24 34.38 1.163 1597.00 -4.6 0.049 - - - - - - 15.65 15.42 12.21
21814.05 65.07 6.12 2499 21819.85 roll 2.10 - - 2641.25 - 3.22 0.050 2176.44 -402.6 221.24 - - 1593.03 - - - - - - - - - 15.54 -
21999.10 58.96 2.88 2536 22066.37 2.32 0.40 0.071 2708.62 168.4 4.13 0.129 736.50 -348.7 295.07 61.03 1.149 1296.91 -4.9 0.043 - - - - - - 15.62 15.24 12.17
22204.17 34.22 17.30 2577 22209.97 roll 2.32 - - 2708.12 - 3.71 0.050 2222.69 400.6 295.07 - - 1293.41 - - - - - - - - - 15.50 -
22389.22 6.56 15.06 2614 22395.20 roll 2.32 - - 2708.00 - 4.16 0.125 736.19 -357.3 295.07 - - 1291.16 - - - - - - - - - 15.54 -
22420 end climb: SURFACE_DEPTH_REACHED
22420 begin surface coast
22430 end surface coast: CONTROL_FINISHED_OK
22430 begin surface
SM 0.28 - - - - 176.2 - 0.011 767.8 - 17.23 0.070 764.6 44.4 - 3.37 0.048 771.0 227.5 -0.136 - - 30.36 15.58 15.63 -