NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 109 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 36.62 of 575.00 AH used of 24V (93.63% remains)
• Surface angle -65.2 deg, depth 0.57 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.75 (SM_CC=425)
• GPS1 time: 27 s
• GPS2 time: 3 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
6.39 - - - 74.43 VBD -1.25 - - 179.00 - - - 2117.06 - -77.86 67.47 0.005 2320.12 - - - - - - - - - - 15.64
74.70 3.32 -4.19 13 107.68 -1.25 13.56 0.268 1835.62 122.2 3.47 0.127 3473.75 391.0 -77.86 12.31 0.007 2815.78 40.3 -3.193 - - - - - - 15.59 15.63 15.68
195.42 31.58 -24.53 37 201.20 roll -1.25 - - 1836.06 - 3.46 0.067 2083.62 -401.8 -77.86 - - 2816.25 - - - - - - - - - 15.73 -
380.47 64.76 -15.39 74 386.23 roll -1.25 - - 1835.69 - 3.62 0.123 3475.12 384.4 -77.86 - - 2817.97 - - - - - - - - - 15.79 -
535.51 87.87 -14.72 105 541.26 roll -1.25 - - 1834.38 - 3.47 0.065 2083.62 -401.0 -77.86 - - 2818.81 - - - - - - - - - 15.81 -
725.54 108.48 -9.46 135 731.28 roll -1.25 - - 1835.62 - 3.96 0.166 662.94 -358.8 -77.86 - - 2818.56 - - - - - - - - - 15.85 -
830.56 122.50 -14.00 156 835.15 roll -1.25 - - 1835.88 - 3.45 0.063 2120.88 422.6 -77.86 - - 2818.19 - - - - - - - - - 15.89 -
1140.59 155.88 -11.06 188 1146.35 roll -1.25 - - 1836.00 - 4.03 0.164 662.38 -361.9 -77.86 - - 2818.03 - - - - - - - - - 15.91 -
1209.52 164.61 -12.94 202 1216.35 roll -1.25 - - 1836.19 - 3.50 0.061 2119.75 416.4 -77.86 - - 2818.78 - - - - - - - - - 15.94 -
1515.63 197.22 -10.59 233 1516.96 no move -1.25 - - 1836.12 - - - 2119.62 - -77.86 - - 2819.19 - - - - - - - - - - -
1815.67 228.99 -10.64 263 1817.00 no move -1.25 - - 1836.31 - - - 2119.56 - -77.86 - - 2818.38 - - - - - - - - - - -
2115.73 259.72 -10.15 293 2117.06 no move -1.25 - - 1835.25 - - - 2119.44 - -77.86 - - 2818.88 - - - - - - - - - - -
2415.78 290.89 -9.87 323 2421.55 roll -1.25 - - 1834.81 - 4.03 0.167 663.31 -361.3 -77.86 - - 2818.75 - - - - - - - - - 16.01 -
2470.82 297.83 -13.35 334 2476.39 roll -1.25 - - 1835.75 - 3.49 0.067 2119.12 417.1 -77.86 - - 2818.03 - - - - - - - - - 16.03 -
2775.85 330.89 -10.72 365 2777.18 no move -1.25 - - 1835.44 - - - 2118.88 - -77.86 - - 2818.31 - - - - - - - - - - -
3075.90 363.74 -10.65 395 3081.67 roll -1.25 - - 1835.88 - 4.04 0.170 663.31 -360.3 -77.86 - - 2817.22 - - - - - - - - - 16.03 -
3151.00 372.91 -12.90 410 3155.59 roll -1.25 - - 1835.38 - 3.49 0.066 2118.00 416.8 -77.86 - - 2816.59 - - - - - - - - - 16.05 -
3460.99 405.35 -10.46 442 3466.75 roll -1.25 - - 1835.12 - 4.04 0.170 664.38 -359.8 -77.86 - - 2816.81 - - - - - - - - - 16.04 -
3636.10 426.33 -14.03 477 3640.74 roll -1.25 - - 1834.94 - 3.51 0.069 2117.19 413.9 -77.86 - - 2818.56 - - - - - - - - - 16.07 -
3946.11 458.46 -10.48 509 3950.76 roll -1.25 - - 1835.81 - 3.45 0.135 3475.12 393.6 -77.86 - - 2816.72 - - - - - - - - - 16.03 -
3986.13 462.87 -11.32 517 3990.76 roll -1.25 - - 1835.19 - 3.39 0.071 2082.94 -410.7 -77.86 - - 2818.31 - - - - - - - - - 16.08 -
4296.16 493.32 -10.08 549 4297.49 no move -1.25 - - 1835.81 - - - 2082.62 - -77.86 - - 2816.62 - - - - - - - - - - -
4596.18 522.75 -9.96 579 4597.51 no move -1.25 - - 1835.62 - - - 2083.06 - -77.86 - - 2816.41 - - - - - - - - - - -
4896.22 550.39 -10.06 609 4901.97 roll -1.25 - - 1835.56 - 3.97 0.182 664.25 -357.4 -77.86 - - 2813.41 - - - - - - - - - 16.06 -
5031.25 565.60 -10.92 636 5035.93 roll -1.25 - - 1835.62 - 3.51 0.077 2115.81 413.5 -77.86 - - 2816.03 - - - - - - - - - 16.09 -
5341.28 592.36 -8.16 668 5342.61 no move -1.25 - - 1835.81 - - - 2115.94 - -77.86 - - 2815.12 - - - - - - - - - - -
5641.31 618.26 -8.47 698 5642.63 no move -1.25 - - 1835.94 - - - 2115.75 - -77.86 - - 2814.72 - - - - - - - - - - -
5941.36 643.46 -8.56 728 5946.01 roll -1.25 - - 1835.38 - 3.53 0.141 3472.44 384.3 -77.86 - - 2812.69 - - - - - - - - - 16.10 -
6005.29 649.46 -9.44 741 6012.10 roll -1.25 - - 1835.50 - 3.43 0.077 2086.62 -404.0 -77.86 - - 2814.19 - - - - - - - - - 16.11 -
6311.39 674.35 -7.80 772 6312.71 no move -1.25 - - 1835.50 - - - 2085.12 - -77.86 - - 2814.06 - - - - - - - - - - -
6611.41 696.44 -6.96 802 6617.16 roll -1.25 - - 1834.25 - 3.99 0.187 662.94 -356.4 -77.86 - - 2813.84 - - - - - - - - - 16.08 -
6680.42 703.17 -9.51 816 6687.16 roll -1.25 - - 1836.19 - 3.50 0.079 2116.88 415.4 -77.86 - - 2812.62 - - - - - - - - - 16.11 -
6986.53 729.31 -8.13 847 6987.85 no move -1.25 - - 1835.94 - - - 2116.69 - -77.86 - - 2812.81 - - - - - - - - - - -
7286.50 755.21 -9.56 877 7287.83 no move -1.25 - - 1835.81 - - - 2116.81 - -77.86 - - 2811.91 - - - - - - - - - - -
7586.52 780.56 -8.41 907 7592.29 roll -1.25 - - 1834.69 - 4.09 0.187 663.94 -355.2 -77.86 - - 2812.12 - - - - - - - - - 16.08 -
7621.54 783.46 -9.28 914 7626.20 roll -1.25 - - 1835.88 - 3.54 0.081 2113.94 409.6 -77.86 - - 2811.53 - - - - - - - - - 16.12 -
7931.56 809.08 -7.99 946 7932.89 no move -1.25 - - 1835.50 - - - 2114.62 - -77.86 - - 2811.09 - - - - - - - - - - -
8231.58 834.04 -9.40 976 8232.91 no move -1.25 - - 1835.81 - - - 2114.69 - -77.86 - - 2810.22 - - - - - - - - - - -
8531.62 858.35 -7.26 1006 8532.95 no move -1.25 - - 1835.38 - - - 2115.00 - -77.86 - - 2810.72 - - - - - - - - - - -
8831.67 880.82 -7.16 1036 8833.00 no move -1.25 - - 1835.69 - - - 2114.12 - -77.86 - - 2809.59 - - - - - - - - - - -
9131.72 903.56 -6.82 1066 9133.05 no move -1.25 - - 1836.00 - - - 2114.31 - -77.86 - - 2808.41 - - - - - - - - - - -
9431.76 927.62 -7.82 1096 9433.09 no move -1.25 - - 1835.25 - - - 2114.44 - -77.86 - - 2807.34 - - - - - - - - - - -
9731.82 949.87 -6.80 1126 9733.14 no move -1.25 - - 1835.44 - - - 2114.75 - -77.86 - - 2809.19 - - - - - - - - - - -
10031.88 972.53 -8.90 1156 10033.21 no move -1.25 - - 1835.81 - - - 2114.44 - -77.86 - - 2806.78 - - - - - - - - - - -
10281 end dive: TARGET_DEPTH_EXCEEDED
10281 begin apogee
10283.21 990.35 -6.44 1181 10353.70 -0.25 1.74 0.163 2079.88 140.3 0.06 0.336 2187.62 1219.7 - 65.16 2.274 2498.66 -4.7 0.344 - - - - - - 16.07 15.60 13.21
10354 end apogee: CONTROL_FINISHED_OK
10354 begin climb
10354.95 992.30 - 1188 10437.21 1.25 2.50 0.102 2448.44 147.4 3.60 0.146 3471.31 356.6 77.86 72.93 2.223 2180.84 -4.4 0.325 - - - - - - 15.63 15.21 13.01
10505.00 980.77 11.38 1215 10509.61 roll 1.25 - - 2447.88 - 3.32 0.073 2186.25 -387.1 77.86 - - 2176.12 - - - - - - - - - 15.45 -
10815.05 947.96 11.76 1247 10820.82 done 1.25 - - 2446.38 - 4.13 0.166 737.31 -350.8 77.86 - - 2170.34 - - - - - - - - - 15.68 -
10914.00 935.44 13.43 1267 10920.86 done 1.25 - - 2448.25 - 3.67 0.072 2214.38 402.5 77.86 - - 2166.69 - - - - - - - - - 15.74 -
11220.15 904.74 8.91 1298 11221.48 VBD 1.25 - - 2448.31 - - - 2214.12 - 77.86 - - 2164.00 - - - - - - - - - - -
11520.18 876.36 9.30 1328 11521.51 VBD 1.25 - - 2447.88 - - - 2214.19 - 77.86 - - 2163.03 - - - - - - - - - - -
11820.23 849.01 9.35 1358 11821.56 VBD 1.25 - - 2448.00 - - - 2214.94 - 77.86 - - 2162.78 - - - - - - - - - - -
12120.27 823.08 8.84 1388 12121.60 VBD 1.25 - - 2448.19 - - - 2215.00 - 77.86 - - 2161.78 - - - - - - - - - - -
12420.31 799.14 7.74 1418 12421.64 VBD 1.25 - - 2447.81 - - - 2214.50 - 77.86 - - 2162.22 - - - - - - - - - - -
12720.36 776.23 8.00 1448 12721.69 VBD 1.25 - - 2447.94 - - - 2214.19 - 77.86 - - 2161.38 - - - - - - - - - - -
13020.40 752.51 7.91 1478 13021.73 VBD 1.25 - - 2447.94 - - - 2214.31 - 77.86 - - 2161.12 - - - - - - - - - - -
13320.43 729.94 7.72 1508 13321.76 VBD 1.25 - - 2448.31 - - - 2214.81 - 77.86 - - 2160.91 - - - - - - - - - - -
13620.49 709.28 6.37 1538 13621.82 VBD 1.30 - - 2447.94 - - - 2214.56 - 77.86 - - 2160.47 - - - - - - - - - - -
13920.51 686.76 7.68 1568 13921.84 VBD 1.30 - - 2448.00 - - - 2214.56 - 77.86 - - 2161.41 - - - - - - - - - - -
14220.54 662.80 8.49 1598 14226.38 done 1.30 - - 2448.19 - 4.07 0.158 737.25 -363.0 77.86 - - 2158.50 - - - - - - - - - 16.04 -
14295.55 655.27 8.74 1613 14301.18 done 1.30 - - 2447.88 - 3.61 0.070 2219.19 410.5 77.86 - - 2157.91 - - - - - - - - - 16.06 -
14600.62 630.03 6.53 1644 14601.95 VBD 1.35 - - 2448.06 - - - 2218.81 - 77.86 - - 2157.91 - - - - - - - - - - -
14900.66 608.45 7.02 1674 14902.13 1.38 0.16 0.114 2483.19 219.6 - - 2219.25 - 77.86 - - 2159.81 - - - - - - - - 16.07 - -
15200.73 587.15 6.92 1704 15202.06 VBD 1.41 - - 2483.44 - - - 2218.88 - 77.86 - - 2160.00 - - - - - - - - - - -
15500.79 565.96 7.52 1734 15502.12 VBD 1.43 - - 2483.50 - - - 2219.00 - 77.86 - - 2160.59 - - - - - - - - - - -
15800.84 544.59 7.62 1764 15806.60 done 1.43 - - 2482.31 - 4.03 0.152 736.38 -367.9 77.86 - - 2161.25 - - - - - - - - - 16.07 -
16029.84 525.26 8.57 1810 16036.69 done 1.43 - - 2483.56 - 3.54 0.067 2221.88 419.6 77.86 - - 2159.66 - - - - - - - - - 16.10 -
16336.01 505.00 5.61 1841 16366.68 1.53 0.17 0.110 2519.81 213.2 - - 2221.69 - 112.61 28.22 1.674 2039.44 -4.3 0.215 - - - - - - 16.08 - 13.19
16666.07 473.63 9.05 1874 16670.60 roll 1.53 - - 2518.62 - 3.27 0.137 3471.75 382.3 112.61 - - 2034.84 - - - - - - - - - 15.97 -
16866.14 452.49 10.78 1914 16870.76 roll 1.53 - - 2519.44 - 3.21 0.069 2181.62 -401.9 112.61 - - 2034.81 - - - - - - - - - 15.99 -
17176.17 424.61 9.00 1946 17177.51 VBD 1.53 - - 2518.56 - - - 2182.31 - 112.61 - - 2031.47 - - - - - - - - - - -
17476.21 395.97 8.97 1976 17482.08 done 1.53 - - 2517.81 - 3.93 0.151 735.44 -368.2 112.61 - - 2033.16 - - - - - - - - - 16.01 -
17645.10 375.86 13.20 2010 17652.00 done 1.53 - - 2519.31 - 3.58 0.066 2221.12 415.0 112.61 - - 2030.94 - - - - - - - - - 16.03 -
17951.28 345.73 10.16 2041 17952.61 VBD 1.53 - - 2519.00 - - - 2221.00 - 112.61 - - 2031.38 - - - - - - - - - - -
18251.32 316.28 9.47 2071 18257.14 done 1.53 - - 2519.38 - 4.03 0.146 736.31 -368.4 112.61 - - 2031.59 - - - - - - - - - 16.04 -
18386.35 302.21 9.32 2098 18391.95 done 1.53 - - 2519.12 - 3.57 0.064 2221.38 416.0 112.61 - - 2029.06 - - - - - - - - - 16.04 -
18691.39 275.85 8.70 2129 18692.73 VBD 1.53 - - 2518.88 - - - 2221.25 - 112.61 - - 2029.66 - - - - - - - - - - -
18991.42 250.49 8.15 2159 18995.97 done 1.53 - - 2519.25 - 3.22 0.131 3474.12 389.1 112.61 - - 2031.12 - - - - - - - - - 16.06 -
19061.45 244.27 8.85 2173 19065.99 done 1.53 - - 2519.19 - 3.16 0.063 2178.56 -410.0 112.61 - - 2030.94 - - - - - - - - - 16.07 -
19371.48 218.81 8.60 2205 19372.81 VBD 1.53 - - 2518.38 - - - 2178.75 - 112.61 - - 2029.06 - - - - - - - - - - -
19671.51 193.64 8.16 2235 19677.19 done 1.53 - - 2519.75 - 3.91 0.146 736.31 -368.9 112.61 - - 2030.47 - - - - - - - - - 16.04 -
19816.54 178.71 9.31 2264 19822.14 done 1.53 - - 2519.81 - 3.56 0.062 2224.25 418.0 112.61 - - 2029.56 - - - - - - - - - 16.07 -
20121.59 155.75 7.06 2295 20122.92 VBD 1.56 - - 2519.69 - - - 2224.50 - 112.61 - - 2030.50 - - - - - - - - - - -
20421.61 131.65 8.55 2325 20426.13 done 1.56 - - 2519.81 - 3.19 0.130 3472.38 391.2 112.61 - - 2031.16 - - - - - - - - - 16.03 -
20651.71 114.32 7.70 2371 20656.23 done 1.56 - - 2519.69 - 3.17 0.061 2180.44 -407.6 112.61 - - 2029.94 - - - - - - - - - 16.08 -
20956.79 96.31 5.02 2409 20998.43 1.69 0.19 0.106 2559.19 207.9 3.40 0.127 3473.94 380.4 155.83 35.76 1.214 1863.69 -4.6 0.062 - - - - - - 16.04 15.88 13.18
21221.90 73.78 7.12 2462 21227.56 roll 1.72 - - 2559.19 - 3.18 0.059 2178.44 -407.4 155.83 - - 1857.81 - - - - - - - - - 15.96 -
21406.96 65.40 4.08 2499 21458.72 1.89 0.24 0.099 2605.00 190.9 3.44 0.122 3473.50 376.5 212.45 45.81 1.171 1631.78 -4.9 0.046 - - - - - - 15.95 15.75 13.08
21566.99 54.76 7.79 2531 21572.68 roll 1.89 - - 2605.12 - 3.20 0.058 2180.19 -404.2 212.45 - - 1628.94 - - - - - - - - - 15.83 -
21752.06 39.47 8.55 2568 21757.88 roll 1.89 - - 2604.94 - 3.93 0.143 736.44 -367.4 212.45 - - 1626.94 - - - - - - - - - 15.84 -
21982.38 31.72 0.26 2614 22075.86 2.22 0.47 0.072 2687.75 176.2 3.52 0.057 2228.06 423.8 323.59 88.00 1.122 1180.88 -5.1 0.024 - - - - - - 15.87 15.90 13.07
22253.66 11.59 12.29 2668 22259.51 roll 2.22 - - 2688.56 - 4.11 0.136 735.75 -363.1 323.59 - - 1174.97 - - - - - - - - - 15.71 -
22318 end climb: SURFACE_DEPTH_REACHED
22318 begin surface coast
22328 end surface coast: CONTROL_FINISHED_OK
22328 begin surface
SM 0.85 - - - - 175.3 0.86 0.145 768.4 893.5 16.06 0.076 780.7 48.6 - 3.34 0.054 756.2 225.2 -0.362 - - 15.48 15.73 15.77 -