NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 554 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 164.43 of 575.00 AH used of 24V (71.40% remains)
• Surface angle -58.2 deg, depth 0.49 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 425.01 (SM_CC=425)
• GPS1 time: 26 s
• GPS2 time: 4 s • Transponder ping count: 2
• 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
7.36 - - - 91.88 VBD -1.25 - - 172.88 - - - 2113.69 - -77.86 84.00 0.005 2583.06 - - - - - - - - - - 15.07
92.16 3.40 -3.78 16 123.53 -1.25 14.84 0.261 1835.50 112.0 4.23 0.152 662.19 -343.1 -77.86 5.70 0.008 2815.69 40.8 -3.007 - - - - - - 15.26 15.07 15.19
126.33 12.21 -24.21 23 132.14 roll -1.25 - - 1835.25 - 3.59 0.050 2120.81 406.3 -77.86 - - 2815.66 - - - - - - - - - 15.50 -
311.38 47.56 -16.94 60 317.16 roll -1.25 - - 1834.69 - 3.70 0.109 3475.25 366.1 -77.86 - - 2816.41 - - - - - - - - - 15.53 -
456.41 76.97 -19.82 89 462.16 roll -1.25 - - 1836.06 - 3.44 0.056 2079.94 -405.6 -77.86 - - 2817.16 - - - - - - - - - 15.62 -
641.45 99.87 -11.33 126 647.25 roll -1.25 - - 1835.56 - 3.79 0.106 3475.25 368.2 -77.86 - - 2818.34 - - - - - - - - - 15.59 -
721.54 110.45 -12.87 142 726.13 roll -1.25 - - 1836.56 - 3.42 0.054 2081.25 -407.6 -77.86 - - 2816.31 - - - - - - - - - 15.68 -
1031.50 141.25 -9.43 174 1032.83 no move -1.25 - - 1835.88 - - - 2081.06 - -77.86 - - 2816.62 - - - - - - - - - - -
1331.53 169.90 -9.65 204 1332.86 no move -1.25 - - 1836.19 - - - 2081.31 - -77.86 - - 2816.88 - - - - - - - - - - -
1631.57 200.00 -9.01 234 1632.90 no move -1.25 - - 1835.75 - - - 2080.75 - -77.86 - - 2815.38 - - - - - - - - - - -
1931.60 227.07 -8.94 264 1932.93 no move -1.25 - - 1835.50 - - - 2081.44 - -77.86 - - 2816.84 - - - - - - - - - - -
2231.64 254.70 -9.20 294 2237.39 roll -1.25 - - 1836.62 - 3.86 0.113 3475.31 361.1 -77.86 - - 2814.84 - - - - - - - - - 15.67 -
2296.67 261.68 -10.73 307 2301.31 roll -1.25 - - 1835.62 - 3.43 0.057 2081.31 -406.4 -77.86 - - 2816.75 - - - - - - - - - 15.76 -
2606.69 292.87 -9.90 339 2608.02 no move -1.25 - - 1836.44 - - - 2080.94 - -77.86 - - 2817.56 - - - - - - - - - - -
2906.74 323.82 -9.89 369 2912.48 roll -1.25 - - 1835.69 - 3.85 0.113 3473.12 361.6 -77.86 - - 2817.97 - - - - - - - - - 15.67 -
2981.84 331.89 -10.37 384 2986.43 roll -1.25 - - 1836.06 - 3.43 0.059 2082.81 -405.3 -77.86 - - 2818.84 - - - - - - - - - 15.76 -
3291.84 364.23 -10.53 416 3293.17 no move -1.25 - - 1835.81 - - - 2082.31 - -77.86 - - 2815.59 - - - - - - - - - - -
3591.90 395.63 -9.89 446 3597.64 roll -1.25 - - 1836.19 - 3.82 0.114 3475.25 364.6 -77.86 - - 2815.09 - - - - - - - - - 15.65 -
3640.91 400.96 -10.69 456 3647.66 roll -1.25 - - 1835.81 - 3.43 0.060 2082.38 -406.1 -77.86 - - 2816.44 - - - - - - - - - 15.74 -
3946.98 430.93 -10.00 487 3952.72 roll -1.25 - - 1835.75 - 3.85 0.113 3475.12 361.8 -77.86 - - 2814.84 - - - - - - - - - 15.65 -
4016.00 438.70 -11.55 501 4022.75 roll -1.25 - - 1834.81 - 3.42 0.059 2083.12 -407.0 -77.86 - - 2816.62 - - - - - - - - - 15.74 -
4322.07 469.52 -10.41 532 4323.40 no move -1.25 - - 1835.81 - - - 2083.88 - -77.86 - - 2814.88 - - - - - - - - - - -
4622.12 499.37 -10.53 562 4627.85 roll -1.25 - - 1834.44 - 3.87 0.117 3472.38 358.8 -77.86 - - 2814.97 - - - - - - - - - 15.64 -
4737.17 512.24 -11.78 585 4741.83 roll -1.25 - - 1835.56 - 3.46 0.062 2083.31 -401.5 -77.86 - - 2817.16 - - - - - - - - - 15.73 -
5047.21 541.70 -8.53 617 5048.54 no move -1.25 - - 1836.00 - - - 2082.75 - -77.86 - - 2815.22 - - - - - - - - - - -
5347.25 568.39 -8.27 647 5348.57 no move -1.25 - - 1835.56 - - - 2082.56 - -77.86 - - 2815.34 - - - - - - - - - - -
5647.35 590.78 -7.12 677 5648.67 no move -1.25 - - 1835.94 - - - 2082.56 - -77.86 - - 2814.34 - - - - - - - - - - -
5947.31 611.25 -7.29 707 5948.64 no move -1.25 - - 1835.75 - - - 2082.50 - -77.86 - - 2814.81 - - - - - - - - - - -
6247.35 633.09 -7.66 737 6253.13 roll -1.25 - - 1835.94 - 4.14 0.163 663.94 -342.6 -77.86 - - 2815.84 - - - - - - - - - 15.50 -
6306.37 638.75 -9.28 749 6313.12 roll -1.25 - - 1835.81 - 3.58 0.056 2117.88 406.1 -77.86 - - 2814.19 - - - - - - - - - 15.75 -
6612.40 662.78 -7.82 780 6613.73 no move -1.25 - - 1835.75 - - - 2117.88 - -77.86 - - 2812.50 - - - - - - - - - - -
6912.42 687.70 -9.15 810 6913.75 no move -1.25 - - 1836.06 - - - 2118.38 - -77.86 - - 2813.56 - - - - - - - - - - -
7212.46 712.78 -9.55 840 7213.79 no move -1.25 - - 1835.62 - - - 2118.62 - -77.86 - - 2813.00 - - - - - - - - - - -
7512.49 740.90 -8.73 870 7513.82 no move -1.25 - - 1836.00 - - - 2118.44 - -77.86 - - 2812.62 - - - - - - - - - - -
7812.52 765.72 -8.01 900 7818.26 roll -1.25 - - 1834.31 - 3.83 0.124 3473.81 353.9 -77.86 - - 2811.78 - - - - - - - - - 15.58 -
7881.53 771.92 -8.36 914 7888.28 roll -1.25 - - 1835.94 - 3.48 0.065 2084.38 -399.3 -77.86 - - 2812.34 - - - - - - - - - 15.66 -
8187.57 795.06 -7.51 945 8193.31 roll -1.25 - - 1835.69 - 3.89 0.122 3473.88 357.2 -77.86 - - 2809.88 - - - - - - - - - 15.57 -
8226.57 799.05 -9.96 953 8233.46 roll -1.25 - - 1835.81 - 3.45 0.065 2084.25 -402.8 -77.86 - - 2811.78 - - - - - - - - - 15.65 -
8532.61 822.33 -8.94 984 8533.94 no move -1.25 - - 1835.56 - - - 2084.69 - -77.86 - - 2812.03 - - - - - - - - - - -
8832.65 843.81 -6.73 1014 8833.98 no move -1.25 - - 1835.69 - - - 2084.56 - -77.86 - - 2809.66 - - - - - - - - - - -
9132.68 865.68 -6.14 1044 9134.01 no move -1.25 - - 1835.62 - - - 2084.00 - -77.86 - - 2811.00 - - - - - - - - - - -
9432.75 886.75 -6.38 1074 9434.07 no move -1.25 - - 1835.38 - - - 2084.81 - -77.86 - - 2810.94 - - - - - - - - - - -
9732.81 907.65 -7.13 1104 9738.56 roll -1.25 - - 1835.56 - 3.92 0.127 3473.69 354.3 -77.86 - - 2808.62 - - - - - - - - - 15.53 -
9807.90 912.89 -7.22 1119 9813.50 roll -1.25 - - 1835.81 - 3.47 0.069 2084.50 -400.3 -77.86 - - 2812.38 - - - - - - - - - 15.62 -
10112.90 931.94 -6.76 1150 10114.23 no move -1.25 - - 1835.94 - - - 2084.88 - -77.86 - - 2808.59 - - - - - - - - - - -
10412.96 950.99 -6.39 1180 10418.70 roll -1.25 - - 1835.81 - 3.91 0.128 3473.19 355.1 -77.86 - - 2811.44 - - - - - - - - - 15.51 -
10497.98 957.07 -6.45 1197 10502.72 roll -1.25 - - 1835.88 - 3.48 0.069 2085.75 -398.7 -77.86 - - 2809.38 - - - - - - - - - 15.61 -
10808.07 976.29 -5.80 1229 10809.40 no move -1.25 - - 1835.50 - - - 2085.50 - -77.86 - - 2808.34 - - - - - - - - - - -
11018 end dive: TARGET_DEPTH_EXCEEDED
11018 begin apogee
11019.40 990.17 -6.56 1250 11091.39 -0.25 1.88 0.146 2079.62 129.9 0.08 0.291 2186.06 1257.0 - 68.24 2.285 2496.84 -4.6 0.343 - - - - - - 15.54 15.01 11.35
11094 end apogee: CONTROL_FINISHED_OK
11094 begin climb
11093.53 991.55 - 1257 11174.31 1.25 2.70 0.086 2447.44 136.2 - - 2186.00 - 77.86 76.82 2.217 2182.31 -4.1 0.317 - - - - - - 15.12 - 12.19
11468.15 958.93 10.04 1295 11474.01 done 1.25 - - 2447.62 - 4.21 0.149 737.62 -344.0 77.86 - - 2169.75 - - - - - - - - - 15.32 -
11537.08 950.31 14.13 1309 11543.95 done 1.25 - - 2447.31 - 3.69 0.055 2216.25 400.7 77.86 - - 2170.81 - - - - - - - - - 15.48 -
11843.22 921.92 8.92 1340 11844.55 VBD 1.25 - - 2447.69 - - - 2215.94 - 77.86 - - 2165.91 - - - - - - - - - - -
12143.25 895.93 7.88 1370 12144.58 VBD 1.25 - - 2447.62 - - - 2215.94 - 77.86 - - 2166.41 - - - - - - - - - - -
12443.28 871.19 8.27 1400 12448.16 done 1.25 - - 2448.12 - 3.58 0.129 3473.25 351.2 77.86 - - 2164.78 - - - - - - - - - 15.51 -
12527.15 862.98 9.44 1417 12534.01 done 1.25 - - 2447.81 - 3.20 0.062 2182.19 -403.5 77.86 - - 2165.56 - - - - - - - - - 15.66 -
12833.33 837.40 8.39 1448 12839.16 done 1.25 - - 2447.12 - 4.07 0.144 736.69 -355.2 77.86 - - 2163.25 - - - - - - - - - 15.49 -
12978.38 822.72 12.20 1477 12984.13 done 1.25 - - 2447.75 - 3.62 0.055 2218.62 409.4 77.86 - - 2162.28 - - - - - - - - - 15.71 -
13283.41 798.46 8.34 1508 13288.12 done 1.25 - - 2446.88 - 3.49 0.126 3473.62 359.6 77.86 - - 2163.59 - - - - - - - - - 15.53 -
13347.26 793.07 9.47 1521 13354.19 done 1.25 - - 2447.62 - 3.15 0.059 2180.19 -410.6 77.86 - - 2163.59 - - - - - - - - - 15.71 -
13653.46 770.87 7.27 1552 13654.79 VBD 1.28 - - 2447.81 - - - 2180.88 - 77.86 - - 2163.47 - - - - - - - - - - -
13953.48 748.50 8.06 1582 13959.28 done 1.28 - - 2447.56 - 3.62 0.124 3472.88 356.9 77.86 - - 2161.66 - - - - - - - - - 15.52 -
14058.49 740.00 8.43 1603 14063.03 done 1.28 - - 2447.38 - 3.16 0.059 2181.62 -408.6 77.86 - - 2164.81 - - - - - - - - - 15.70 -
14368.54 715.95 7.27 1635 14374.36 done 1.30 - - 2447.62 - 4.03 0.139 737.12 -358.4 77.86 - - 2164.62 - - - - - - - - - 15.42 -
14537.49 700.12 9.90 1669 14544.34 done 1.30 - - 2447.56 - 3.61 0.055 2219.31 410.6 77.86 - - 2162.38 - - - - - - - - - 15.71 -
14843.61 674.35 8.24 1700 14844.94 VBD 1.30 - - 2447.75 - - - 2219.25 - 77.86 - - 2161.78 - - - - - - - - - - -
15143.63 650.40 7.64 1730 15149.48 done 1.30 - - 2448.19 - 4.15 0.138 736.38 -357.3 77.86 - - 2161.44 - - - - - - - - - 15.48 -
15232.49 642.10 9.43 1748 15239.43 done 1.30 - - 2447.56 - 3.63 0.056 2221.12 409.0 77.86 - - 2162.31 - - - - - - - - - 15.71 -
15538.73 622.12 6.06 1779 15544.67 done 1.36 - - 2447.56 - 4.16 0.135 735.88 -357.0 77.86 - - 2161.62 - - - - - - - - - 15.41 -
15623.71 615.70 7.98 1796 15629.33 done 1.36 - - 2448.12 - 3.63 0.054 2218.75 408.5 77.86 - - 2159.28 - - - - - - - - - 15.71 -
15928.80 597.72 6.70 1827 15930.27 1.40 0.20 0.085 2487.31 196.0 - - 2219.12 - 77.86 - - 2161.59 - - - - - - - - 15.75 - -
16228.85 579.80 5.90 1857 16261.27 done 1.49 - - 2487.94 - 4.17 0.137 737.12 -355.4 108.59 26.49 1.760 2053.75 -4.1 0.232 - - - - - - - 15.51 11.56
16484.11 555.37 10.71 1908 16489.81 roll 1.49 - - 2488.00 - 3.68 0.054 2218.50 402.5 108.59 - - 2049.94 - - - - - - - - - 15.60 -
16789.18 527.01 9.36 1939 16795.02 roll 1.49 - - 2488.19 - 4.18 0.132 735.25 -354.8 108.59 - - 2049.09 - - - - - - - - - 15.45 -
16964.27 508.98 9.84 1974 16970.13 roll 1.49 - - 2487.69 - 3.65 0.054 2219.25 406.6 108.59 - - 2048.97 - - - - - - - - - 15.67 -
17269.29 483.98 7.49 2005 17270.62 no move 1.51 - - 2487.44 - - - 2218.88 - 108.59 - - 2048.84 - - - - - - - - - - -
17569.30 459.92 7.93 2035 17575.16 done 1.51 - - 2487.31 - 4.14 0.133 736.06 -358.2 108.59 - - 2047.28 - - - - - - - - - 15.48 -
17678.24 449.52 9.59 2057 17685.10 done 1.51 - - 2487.88 - 3.64 0.053 2220.00 407.7 108.59 - - 2049.03 - - - - - - - - - 15.69 -
17984.38 425.25 6.97 2088 17990.16 1.54 0.16 0.094 2523.00 219.5 3.53 0.120 3473.81 355.2 108.59 - - 2049.72 - - - - - - - - 15.70 15.53 -
18073.22 416.91 9.39 2106 18080.08 done 1.54 - - 2522.12 - 3.18 0.056 2177.88 -407.5 108.59 - - 2048.50 - - - - - - - - - 15.69 -
18379.43 394.53 6.47 2137 18385.17 done 1.59 - - 2520.38 - 4.01 0.134 735.62 -359.7 108.59 - - 2047.50 - - - - - - - - - 15.48 -
18558.40 379.23 8.95 2173 18565.22 done 1.59 - - 2521.62 - 3.60 0.052 2222.94 413.1 108.59 - - 2048.66 - - - - - - - - - 15.71 -
18864.52 358.58 7.39 2204 18870.21 done 1.61 - - 2521.44 - 4.11 0.128 736.00 -361.8 108.59 - - 2047.62 - - - - - - - - - 15.42 -
18999.53 346.46 8.38 2231 19005.15 done 1.61 - - 2519.94 - 3.61 0.051 2221.56 411.5 108.59 - - 2048.53 - - - - - - - - - 15.73 -
19304.58 324.25 6.77 2262 19310.26 done 1.65 - - 2522.06 - 4.12 0.126 735.88 -360.6 108.59 - - 2046.34 - - - - - - - - - 15.50 -
19509.62 305.39 10.55 2303 19515.22 done 1.65 - - 2519.56 - 3.62 0.052 2223.31 410.9 108.59 - - 2048.03 - - - - - - - - - 15.73 -
19814.64 281.78 7.69 2334 19820.39 done 1.65 - - 2521.62 - 4.10 0.126 735.94 -362.8 108.59 - - 2050.44 - - - - - - - - - 15.49 -
19943.86 270.31 9.03 2360 19950.57 done 1.65 - - 2522.06 - 3.61 0.051 2223.19 412.0 108.59 - - 2049.06 - - - - - - - - - 15.70 -
20249.71 246.55 8.55 2391 20255.47 done 1.65 - - 2521.69 - 4.15 0.125 735.69 -358.4 108.59 - - 2048.34 - - - - - - - - - 15.42 -
20374.74 234.61 9.13 2416 20380.37 done 1.65 - - 2520.62 - 3.61 0.051 2223.00 412.0 108.59 - - 2046.84 - - - - - - - - - 15.72 -
20679.81 211.22 7.59 2447 20681.15 VBD 1.65 - - 2522.38 - - - 2223.38 - 108.59 - - 2047.88 - - - - - - - - - - -
20979.88 193.58 5.25 2477 21021.58 1.77 0.30 0.073 2578.12 185.8 4.10 0.126 735.12 -363.0 148.48 35.15 1.341 1893.50 -4.4 0.110 - - - - - - 15.71 15.48 11.68
21089.91 183.30 12.24 2499 21095.53 roll 1.77 - - 2578.25 - 3.65 0.050 2222.25 407.4 148.48 - - 1889.91 - - - - - - - - - 15.44 -
21394.97 150.90 11.39 2530 21396.30 no move 1.77 - - 2577.94 - - - 2222.38 - 148.48 - - 1887.91 - - - - - - - - - - -
21695.02 117.96 9.93 2560 21696.35 no move 1.77 - - 2577.75 - - - 2221.94 - 148.48 - - 1885.91 - - - - - - - - - - -
21995.12 95.00 5.62 2598 22031.61 done 1.87 - - 2577.81 - 3.48 0.116 3472.75 359.4 183.19 30.11 1.201 1751.66 -4.5 0.061 - - - - - - - 15.50 11.99
22095.12 87.97 8.20 2618 22100.82 roll 1.87 - - 2577.88 - 3.18 0.051 2177.69 -407.3 183.19 - - 1749.47 - - - - - - - - - 15.51 -
22280.20 73.81 7.83 2655 22285.96 roll 1.87 - - 2577.56 - 3.61 0.108 3473.81 359.0 183.19 - - 1749.00 - - - - - - - - - 15.44 -
22465.27 65.91 2.89 2692 22532.30 2.09 0.47 0.065 2657.06 169.1 3.17 0.049 2174.25 -410.0 256.88 62.03 1.173 1452.38 -4.8 0.047 - - - - - - 15.37 15.55 12.02
22710.28 52.50 7.99 2741 22716.26 roll 2.09 - - 2657.56 - 4.04 0.126 735.06 -356.2 256.88 - - 1448.03 - - - - - - - - - 15.35 -
22880.33 32.38 12.86 2775 22886.11 roll 2.09 - - 2658.06 - 3.65 0.048 2223.44 407.8 256.88 - - 1445.25 - - - - - - - - - 15.54 -
23065.37 12.11 13.00 2812 23066.70 VBD 2.09 - - 2657.75 - - - 2223.69 - 256.88 - - 1444.06 - - - - - - - - - - -
23151 end climb: SURFACE_DEPTH_REACHED
23151 begin surface coast
23166 end surface coast: CONTROL_FINISHED_OK
23166 begin surface
SM 0.47 - - - - 175.0 - 0.015 767.4 - 17.07 0.065 763.2 44.7 - 0.34 0.084 771.5 2269.1 -1.298 - - 30.36 15.42 15.63 -