NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 493 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 147.18 of 575.00 AH used of 24V (74.40% remains)
• Surface angle -62.0 deg, depth 1.21 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.69 (SM_CC=425)
• GPS1 time: 25 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
7.20 - - - 86.24 VBD -1.25 - - 175.25 - - - 2120.62 - -77.86 78.47 0.005 2495.00 - - - - - - - - - - 15.19
86.51 3.57 -4.16 15 118.37 -1.25 14.40 0.256 1837.00 115.4 3.76 0.113 3474.19 360.0 -77.86 8.06 0.007 2816.69 39.9 -3.541 - - - - - - 15.37 15.20 15.29
206.13 28.96 -21.34 39 211.89 roll -1.25 - - 1837.00 - 3.46 0.059 2081.38 -402.5 -77.86 - - 2817.50 - - - - - - - - - 15.58 -
391.20 59.32 -11.14 76 397.05 roll -1.25 - - 1836.94 - 4.01 0.149 663.50 -353.6 -77.86 - - 2817.84 - - - - - - - - - 15.59 -
476.21 70.03 -12.47 93 481.98 roll -1.25 - - 1836.69 - 3.54 0.050 2122.00 412.0 -77.86 - - 2818.50 - - - - - - - - - 15.69 -
661.27 90.94 -10.85 130 667.11 roll -1.25 - - 1837.25 - 4.04 0.145 663.50 -361.0 -77.86 - - 2816.84 - - - - - - - - - 15.64 -
706.29 96.67 -13.49 139 712.03 roll -1.25 - - 1837.38 - 3.48 0.049 2120.81 418.8 -77.86 - - 2819.06 - - - - - - - - - 15.73 -
896.30 117.17 -10.63 161 901.05 roll -1.25 - - 1837.19 - 3.62 0.109 3477.31 374.7 -77.86 - - 2815.56 - - - - - - - - - 15.74 -
940.16 122.12 -10.75 170 947.03 roll -1.25 - - 1837.25 - 3.36 0.055 2081.38 -415.5 -77.86 - - 2817.38 - - - - - - - - - 15.77 -
1246.34 154.75 -11.20 201 1247.67 no move -1.25 - - 1837.44 - - - 2081.75 - -77.86 - - 2816.88 - - - - - - - - - - -
1546.37 186.20 -10.51 231 1552.17 roll -1.25 - - 1837.12 - 3.73 0.111 3474.94 373.5 -77.86 - - 2818.84 - - - - - - - - - 15.79 -
1611.40 193.55 -11.38 244 1615.96 roll -1.25 - - 1837.00 - 3.38 0.058 2081.38 -412.3 -77.86 - - 2817.38 - - - - - - - - - 15.82 -
1921.42 225.50 -10.11 276 1927.21 roll -1.25 - - 1836.44 - 3.73 0.111 3474.12 373.4 -77.86 - - 2815.78 - - - - - - - - - 15.80 -
1970.29 231.31 -12.59 286 1977.16 roll -1.25 - - 1837.50 - 3.37 0.058 2081.38 -413.3 -77.86 - - 2817.16 - - - - - - - - - 15.83 -
2276.47 263.30 -10.53 317 2282.25 roll -1.25 - - 1837.06 - 3.74 0.111 3472.69 372.0 -77.86 - - 2815.56 - - - - - - - - - 15.81 -
2325.36 268.91 -12.08 327 2332.21 roll -1.25 - - 1837.25 - 3.35 0.057 2080.75 -415.5 -77.86 - - 2816.75 - - - - - - - - - 15.84 -
2631.51 302.01 -11.00 358 2632.84 no move -1.25 - - 1837.50 - - - 2080.06 - -77.86 - - 2817.19 - - - - - - - - - - -
2931.55 331.72 -10.19 388 2932.88 no move -1.25 - - 1836.81 - - - 2080.50 - -77.86 - - 2817.38 - - - - - - - - - - -
3231.58 359.45 -8.97 418 3232.91 no move -1.25 - - 1836.88 - - - 2080.25 - -77.86 - - 2817.31 - - - - - - - - - - -
3531.62 385.28 -8.35 448 3532.95 no move -1.25 - - 1836.38 - - - 2079.44 - -77.86 - - 2816.78 - - - - - - - - - - -
3831.67 411.56 -9.51 478 3837.46 roll -1.25 - - 1837.50 - 3.78 0.116 3474.12 369.0 -77.86 - - 2817.22 - - - - - - - - - 15.82 -
3896.85 418.37 -10.44 491 3902.28 roll -1.25 - - 1836.94 - 3.38 0.061 2081.19 -412.1 -77.86 - - 2816.06 - - - - - - - - - 15.87 -
4201.76 449.88 -10.74 522 4203.09 no move -1.25 - - 1836.62 - - - 2081.88 - -77.86 - - 2817.03 - - - - - - - - - - -
4501.83 479.52 -9.56 552 4503.16 no move -1.25 - - 1837.25 - - - 2081.25 - -77.86 - - 2816.97 - - - - - - - - - - -
4801.89 505.85 -8.92 582 4807.61 roll -1.25 - - 1837.12 - 3.78 0.117 3474.62 368.6 -77.86 - - 2814.81 - - - - - - - - - 15.81 -
4850.76 510.85 -9.88 592 4857.63 roll -1.25 - - 1837.12 - 3.37 0.061 2082.12 -413.2 -77.86 - - 2816.28 - - - - - - - - - 15.86 -
5156.98 537.75 -9.04 623 5162.66 roll -1.25 - - 1835.50 - 3.97 0.158 663.81 -357.3 -77.86 - - 2818.47 - - - - - - - - - 15.74 -
5195.98 541.38 -9.22 631 5202.74 roll -1.25 - - 1837.31 - 3.49 0.052 2117.50 416.5 -77.86 - - 2815.78 - - - - - - - - - 15.87 -
5502.05 570.29 -9.63 662 5507.84 roll -1.25 - - 1837.38 - 3.64 0.118 3473.81 372.6 -77.86 - - 2814.47 - - - - - - - - - 15.81 -
5547.08 575.68 -12.07 671 5551.64 roll -1.25 - - 1836.56 - 3.34 0.060 2080.75 -417.1 -77.86 - - 2815.25 - - - - - - - - - 15.86 -
5857.15 605.37 -9.00 703 5862.82 roll -1.25 - - 1835.69 - 3.97 0.161 664.31 -356.8 -77.86 - - 2816.97 - - - - - - - - - 15.72 -
5906.15 611.07 -10.95 713 5912.90 roll -1.25 - - 1837.06 - 3.48 0.054 2119.25 418.1 -77.86 - - 2814.69 - - - - - - - - - 15.87 -
6212.19 640.07 -9.39 744 6213.52 no move -1.25 - - 1837.12 - - - 2119.12 - -77.86 - - 2813.22 - - - - - - - - - - -
6512.22 668.19 -9.55 774 6517.92 roll -1.25 - - 1836.81 - 4.09 0.161 662.19 -356.2 -77.86 - - 2812.78 - - - - - - - - - 15.72 -
6601.22 677.94 -10.79 792 6608.01 roll -1.25 - - 1837.19 - 3.51 0.057 2117.75 414.7 -77.86 - - 2814.72 - - - - - - - - - 15.86 -
6907.28 706.11 -9.62 823 6912.97 roll -1.25 - - 1835.62 - 3.66 0.120 3474.75 370.8 -77.86 - - 2816.38 - - - - - - - - - 15.79 -
6952.30 710.68 -9.99 832 6956.88 roll -1.25 - - 1836.69 - 3.36 0.062 2084.50 -413.8 -77.86 - - 2816.41 - - - - - - - - - 15.86 -
7262.32 737.49 -8.75 864 7263.65 no move -1.25 - - 1837.12 - - - 2084.25 - -77.86 - - 2813.69 - - - - - - - - - - -
7562.36 761.68 -8.41 894 7568.15 roll -1.25 - - 1836.62 - 3.78 0.122 3473.38 367.5 -77.86 - - 2814.03 - - - - - - - - - 15.78 -
7657.44 770.39 -10.91 913 7661.94 roll -1.25 - - 1837.12 - 3.38 0.065 2084.12 -411.0 -77.86 - - 2813.75 - - - - - - - - - 15.85 -
7967.41 798.06 -8.73 945 7973.24 roll -1.25 - - 1836.62 - 4.03 0.167 663.31 -352.6 -77.86 - - 2815.12 - - - - - - - - - 15.69 -
8052.42 806.76 -10.04 962 8057.09 roll -1.25 - - 1837.00 - 3.54 0.060 2116.00 410.4 -77.86 - - 2812.72 - - - - - - - - - 15.86 -
8362.46 834.24 -9.85 994 8368.16 roll -1.25 - - 1837.00 - 4.10 0.164 662.81 -354.4 -77.86 - - 2815.00 - - - - - - - - - 15.68 -
8411.39 838.98 -9.33 1004 8418.23 roll -1.25 - - 1837.12 - 3.53 0.060 2116.81 411.9 -77.86 - - 2814.69 - - - - - - - - - 15.85 -
8717.50 863.02 -7.74 1035 8723.41 roll -1.25 - - 1837.19 - 3.70 0.124 3474.44 366.9 -77.86 - - 2813.22 - - - - - - - - - 15.77 -
8812.72 871.97 -9.65 1054 8818.09 roll -1.25 - - 1836.94 - 3.40 0.066 2084.25 -408.9 -77.86 - - 2811.53 - - - - - - - - - 15.83 -
9117.55 895.30 -7.41 1085 9123.25 roll -1.25 - - 1837.06 - 4.05 0.171 664.19 -350.6 -77.86 - - 2814.16 - - - - - - - - - 15.67 -
9166.55 899.73 -9.17 1095 9173.32 roll -1.25 - - 1837.31 - 3.53 0.059 2116.56 411.4 -77.86 - - 2811.41 - - - - - - - - - 15.85 -
9472.59 922.12 -6.81 1126 9478.31 roll -1.25 - - 1836.31 - 4.11 0.168 663.19 -353.6 -77.86 - - 2811.66 - - - - - - - - - 15.66 -
9541.58 928.02 -7.75 1140 9548.36 roll -1.25 - - 1837.00 - 3.55 0.061 2115.75 409.2 -77.86 - - 2811.97 - - - - - - - - - 15.84 -
9847.64 951.79 -7.54 1171 9848.97 no move -1.25 - - 1835.81 - - - 2115.38 - -77.86 - - 2813.28 - - - - - - - - - - -
10147.70 975.58 -8.84 1201 10153.42 roll -1.25 - - 1836.69 - 3.70 0.129 3475.00 367.5 -77.86 - - 2810.16 - - - - - - - - - 15.75 -
10212.73 981.17 -10.02 1214 10217.43 roll -1.25 - - 1836.88 - 3.39 0.068 2086.31 -409.6 -77.86 - - 2813.56 - - - - - - - - - 15.80 -
10342 end dive: TARGET_DEPTH_EXCEEDED
10342 begin apogee
10344.02 990.99 -7.64 1228 10414.60 -0.25 1.82 0.149 2080.50 133.9 0.08 0.287 2186.12 1247.6 - 67.12 2.272 2501.09 -4.7 0.353 - - - - - - 15.74 15.07 11.80
10416 end apogee: CONTROL_FINISHED_OK
10416 begin climb
10416.64 992.11 - 1235 10501.13 1.25 2.62 0.084 2447.69 140.1 3.85 0.126 3471.69 333.9 77.86 75.36 2.203 2180.59 -4.3 0.333 - - - - - - 15.15 14.77 12.26
10512.73 987.24 6.60 1254 10519.60 roll 1.30 - - 2447.31 - 3.32 0.057 2181.50 -388.6 77.86 - - 2181.41 - - - - - - - - - 14.98 -
10818.97 959.29 9.25 1285 10824.71 done 1.30 - - 2448.00 - 3.64 0.124 3471.56 354.4 77.86 - - 2170.88 - - - - - - - - - 15.49 -
10883.98 952.21 11.18 1298 10888.64 done 1.30 - - 2447.75 - 3.18 0.059 2182.50 -405.4 77.86 - - 2170.56 - - - - - - - - - 15.56 -
11194.04 922.18 9.69 1330 11199.86 done 1.30 - - 2448.75 - 3.98 0.144 737.31 -363.1 77.86 - - 2170.19 - - - - - - - - - 15.60 -
11249.07 915.94 11.62 1341 11253.94 done 1.30 - - 2447.94 - 3.62 0.053 2218.50 409.2 77.86 - - 2168.50 - - - - - - - - - 15.68 -
11559.13 887.23 8.23 1373 11564.95 done 1.30 - - 2448.31 - 4.07 0.141 737.50 -363.9 77.86 - - 2167.97 - - - - - - - - - 15.66 -
11614.22 881.99 9.42 1384 11619.76 done 1.30 - - 2447.56 - 3.60 0.053 2218.94 411.5 77.86 - - 2165.81 - - - - - - - - - 15.73 -
11919.19 855.34 8.28 1415 11923.77 done 1.30 - - 2448.38 - 3.46 0.127 3472.81 362.4 77.86 - - 2166.56 - - - - - - - - - 15.71 -
11993.05 848.13 9.88 1430 11999.92 done 1.30 - - 2448.44 - 3.14 0.059 2179.88 -411.8 77.86 - - 2165.31 - - - - - - - - - 15.77 -
12299.24 820.82 8.79 1461 12304.84 done 1.30 - - 2447.81 - 3.58 0.124 3473.50 361.3 77.86 - - 2167.22 - - - - - - - - - 15.72 -
12434.27 806.75 11.43 1488 12438.81 done 1.30 - - 2448.44 - 3.16 0.060 2183.44 -408.2 77.86 - - 2164.62 - - - - - - - - - 15.75 -
12744.31 779.64 8.56 1520 12749.92 done 1.30 - - 2449.25 - 3.57 0.123 3473.56 361.4 77.86 - - 2165.62 - - - - - - - - - 15.72 -
12763.16 777.66 10.01 1524 12770.01 done 1.30 - - 2448.50 - 3.12 0.057 2178.81 -415.0 77.86 - - 2164.50 - - - - - - - - - 15.80 -
13069.36 754.78 6.74 1555 13074.96 done 1.34 - - 2447.50 - 3.56 0.123 3474.06 363.8 77.86 - - 2165.91 - - - - - - - - - 15.73 -
13164.46 747.50 7.07 1574 13168.90 done 1.36 - - 2449.06 - 3.12 0.058 2180.38 -414.6 77.86 - - 2163.62 - - - - - - - - - 15.81 -
13474.41 726.67 6.55 1606 13475.90 1.41 0.22 0.096 2491.31 192.0 - - 2180.94 - 77.86 - - 2163.31 - - - - - - - - 15.78 - -
13774.45 704.11 7.18 1636 13780.18 done 1.44 - - 2491.38 - 3.56 0.123 3472.06 362.7 77.86 - - 2164.94 - - - - - - - - - 15.73 -
13993.34 683.33 9.95 1680 14000.17 done 1.44 - - 2491.69 - 3.12 0.059 2180.25 -414.0 77.86 - - 2163.06 - - - - - - - - - 15.83 -
14299.51 658.40 8.95 1711 14305.25 done 1.44 - - 2491.75 - 3.90 0.138 735.31 -370.5 77.86 - - 2161.53 - - - - - - - - - 15.72 -
14358.37 652.87 9.38 1723 14365.28 done 1.44 - - 2491.62 - 3.57 0.053 2221.50 416.3 77.86 - - 2161.62 - - - - - - - - - 15.82 -
14664.94 625.97 10.28 1754 14670.39 done 1.44 - - 2492.12 - 4.01 0.136 735.12 -370.7 77.86 - - 2161.75 - - - - - - - - - 15.71 -
14803.42 611.62 9.99 1782 14810.34 done 1.44 - - 2492.12 - 3.58 0.052 2220.75 415.0 77.86 - - 2161.00 - - - - - - - - - 15.85 -
15109.61 585.01 8.89 1813 15110.95 VBD 1.44 - - 2491.25 - - - 2221.38 - 77.86 - - 2161.19 - - - - - - - - - - -
15409.64 559.71 8.90 1843 15410.98 VBD 1.44 - - 2491.44 - - - 2221.25 - 77.86 - - 2161.19 - - - - - - - - - - -
15709.70 535.04 8.08 1873 15711.03 VBD 1.44 - - 2491.44 - - - 2221.69 - 77.86 - - 2161.19 - - - - - - - - - - -
16009.78 512.43 7.45 1903 16015.46 done 1.45 - - 2491.94 - 4.05 0.135 735.19 -367.0 77.86 - - 2159.09 - - - - - - - - - 15.71 -
16028.64 510.93 7.01 1907 16035.54 done 1.48 - - 2491.75 - 3.58 0.052 2222.25 415.4 77.86 - - 2160.78 - - - - - - - - - 15.83 -
16334.85 490.81 6.78 1938 16339.42 done 1.52 - - 2492.25 - 3.42 0.120 3474.56 366.2 77.86 - - 2160.88 - - - - - - - - - 15.71 -
16408.73 485.26 6.92 1953 16415.63 1.56 0.16 0.102 2524.88 203.9 3.12 0.055 2176.75 -416.0 77.86 - - 2160.78 - - - - - - - - 15.69 15.81 -
16714.94 466.58 5.96 1984 16746.21 done 1.65 - - 2525.19 - 3.57 0.118 3473.56 363.3 107.70 24.92 1.614 2059.66 -4.1 0.204 - - - - - - - 15.60 11.92
16758.79 463.38 7.11 1993 16765.65 roll 1.67 - - 2525.00 - 3.15 0.053 2178.94 -411.0 107.70 - - 2058.78 - - - - - - - - - 15.65 -
17064.99 438.59 8.65 2024 17070.73 roll 1.67 - - 2524.56 - 3.94 0.135 733.50 -366.9 107.70 - - 2054.53 - - - - - - - - - 15.62 -
17103.93 434.38 10.89 2032 17110.77 roll 1.67 - - 2525.31 - 3.58 0.048 2223.12 416.1 107.70 - - 2054.78 - - - - - - - - - 15.64 -
17410.07 407.61 8.84 2063 17414.64 roll 1.67 - - 2525.62 - 3.38 0.115 3472.62 369.7 107.70 - - 2054.19 - - - - - - - - - 15.69 -
17553.96 392.77 10.19 2092 17560.81 roll 1.67 - - 2525.00 - 3.14 0.054 2178.62 -412.1 107.70 - - 2056.25 - - - - - - - - - 15.67 -
17860.17 364.83 9.22 2123 17865.78 roll 1.67 - - 2524.50 - 3.54 0.113 3474.62 366.1 107.70 - - 2054.25 - - - - - - - - - 15.71 -
17939.05 356.79 10.07 2139 17945.88 roll 1.67 - - 2524.94 - 3.13 0.054 2177.69 -414.4 107.70 - - 2053.72 - - - - - - - - - 15.76 -
18245.23 329.56 8.76 2170 18250.85 roll 1.67 - - 2525.06 - 3.51 0.112 3474.94 369.6 107.70 - - 2051.81 - - - - - - - - - 15.70 -
18280.25 326.04 10.06 2177 18284.91 roll 1.67 - - 2524.88 - 3.12 0.053 2178.00 -415.7 107.70 - - 2053.59 - - - - - - - - - 15.76 -
18590.29 301.83 6.95 2209 18595.92 roll back 1.71 0.19 0.095 2563.88 205.3 3.50 0.111 3474.00 370.3 107.70 - - 2051.53 - - - - - - - - 15.74 15.70 -
18655.30 296.16 8.73 2222 18659.82 roll 1.71 - - 2563.38 - 3.11 0.053 2175.69 -417.5 107.70 - - 2055.22 - - - - - - - - - 15.78 -
18965.33 271.97 8.95 2254 18971.05 roll 1.71 - - 2563.56 - 3.86 0.131 736.31 -372.9 107.70 - - 2055.38 - - - - - - - - - 15.70 -
19050.34 263.68 9.89 2271 19055.95 done 1.71 - - 2564.06 - 3.55 0.050 2225.25 419.4 107.70 - - 2051.03 - - - - - - - - - 15.78 -
19355.40 238.99 7.45 2302 19361.14 done 1.73 - - 2563.12 - 4.01 0.125 735.25 -371.6 107.70 - - 2050.88 - - - - - - - - - 15.69 -
19430.39 232.07 9.45 2317 19436.05 done 1.73 - - 2563.19 - 3.55 0.048 2225.44 419.8 107.70 - - 2050.84 - - - - - - - - - 15.80 -
19735.45 210.68 6.75 2348 19741.19 done 1.76 - - 2563.50 - 4.02 0.125 735.31 -370.7 107.70 - - 2051.66 - - - - - - - - - 15.69 -
19894.38 196.85 8.21 2380 19901.23 done 1.76 - - 2564.25 - 3.56 0.049 2227.25 419.1 107.70 - - 2052.53 - - - - - - - - - 15.67 -
20200.51 176.32 6.73 2411 20205.06 done 1.80 - - 2563.25 - 3.38 0.114 3473.38 368.7 107.70 - - 2054.84 - - - - - - - - - 15.72 -
20274.37 170.87 7.38 2426 20281.20 done 1.82 - - 2563.56 - 3.11 0.050 2176.81 -416.9 107.70 - - 2054.50 - - - - - - - - - 15.73 -
20580.55 152.04 5.95 2457 20612.94 1.91 0.25 0.081 2611.50 191.8 3.55 0.111 3473.00 365.1 137.70 26.53 1.260 1935.78 -4.5 0.094 - - - - - - 15.77 15.60 12.00
20649.53 146.47 8.95 2471 20656.39 roll 1.91 - - 2611.19 - 3.14 0.050 2177.50 -412.6 137.70 - - 1935.06 - - - - - - - - - 15.65 -
20955.77 117.72 9.01 2502 20961.38 roll 1.91 - - 2611.56 - 3.54 0.109 3472.62 365.9 137.70 - - 1931.62 - - - - - - - - - 15.64 -
21185.88 94.89 9.33 2548 21191.56 roll 1.91 - - 2611.19 - 3.13 0.049 2175.38 -414.5 137.70 - - 1932.41 - - - - - - - - - 15.71 -
21371.08 81.63 5.50 2585 21408.56 done 2.02 - - 2611.38 - 3.93 0.127 733.88 -366.8 174.04 31.45 1.177 1791.47 -4.5 0.054 - - - - - - - 15.50 12.11
21496.35 72.83 8.81 2610 21502.10 roll 2.02 - - 2611.00 - 3.60 0.045 2225.88 414.4 174.04 - - 1785.56 - - - - - - - - - 15.59 -
21681.42 64.28 2.91 2647 21748.74 2.24 0.48 0.064 2694.62 174.2 3.46 0.109 3471.69 360.1 247.39 61.10 1.161 1491.47 -4.8 0.046 - - - - - - 15.63 15.26 12.20
21971.56 46.02 9.83 2705 21977.24 roll 2.24 - - 2695.50 - 3.18 0.049 2179.00 -406.5 247.39 - - 1485.09 - - - - - - - - - 15.53 -
22156.60 27.17 10.20 2742 22157.94 VBD 2.24 - - 2694.81 - - - 2178.75 - 247.39 - - 1483.91 - - - - - - - - - - -
22336.64 8.52 10.66 2778 22337.97 VBD 2.24 - - 2694.94 - - - 2178.69 - 247.39 - - 1483.12 - - - - - - - - - - -
22391 end climb: SURFACE_DEPTH_REACHED
22391 begin surface coast
22406 end surface coast: CONTROL_FINISHED_OK
22406 begin surface
SM 0.81 - - - - 178.4 2.10 0.287 768.7 366.0 17.41 0.088 771.2 44.3 - 0.22 0.106 766.2 3482.7 -2.720 - - 12.20 15.59 15.67 -