NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 111 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 37.25 of 575.00 AH used of 24V (93.52% remains)
• Surface angle -64.7 deg, depth 1.02 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.72 (SM_CC=425)
• GPS1 time: 21 s
• GPS2 time: 2 s • Transponder ping count: 4
• 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
6.31 - - - 79.43 VBD -1.25 - - 177.75 - - - 2113.81 - -77.86 72.59 0.005 2431.22 - - - - - - - - - - 15.64
79.75 3.63 -4.18 14 111.57 -1.25 13.62 0.269 1836.50 121.8 3.57 0.125 3474.06 381.0 -77.86 9.23 0.007 2815.22 41.6 -3.615 - - - - - - 15.60 15.63 15.67
334.41 58.85 -16.06 65 340.11 roll -1.25 - - 1836.56 - 3.48 0.067 2084.50 -399.3 -77.86 - - 2816.25 - - - - - - - - - 15.79 -
519.40 85.61 -12.77 102 520.72 no move -1.25 - - 1836.44 - - - 2084.94 - -77.86 - - 2817.09 - - - - - - - - - - -
699.42 108.09 -11.45 131 704.17 roll -1.25 - - 1836.12 - 3.63 0.123 3473.00 382.4 -77.86 - - 2819.56 - - - - - - - - - 15.86 -
929.48 135.38 -10.73 177 934.03 roll -1.25 - - 1835.88 - 3.39 0.065 2083.75 -409.8 -77.86 - - 2817.12 - - - - - - - - - 15.90 -
1239.49 167.62 -10.55 209 1240.82 no move -1.25 - - 1836.06 - - - 2083.88 - -77.86 - - 2818.03 - - - - - - - - - - -
1539.51 201.14 -11.19 239 1540.84 no move -1.25 - - 1836.38 - - - 2083.50 - -77.86 - - 2818.34 - - - - - - - - - - -
1839.53 234.12 -10.68 269 1840.86 no move -1.25 - - 1836.06 - - - 2083.94 - -77.86 - - 2818.56 - - - - - - - - - - -
2139.57 265.07 -10.79 299 2145.33 roll -1.25 - - 1836.44 - 3.91 0.171 664.00 -363.2 -77.86 - - 2816.25 - - - - - - - - - 15.99 -
2274.64 281.87 -11.97 326 2279.23 roll -1.25 - - 1836.00 - 3.47 0.065 2119.69 419.5 -77.86 - - 2817.00 - - - - - - - - - 16.03 -
2584.96 311.66 -9.87 358 2586.29 no move -1.25 - - 1836.38 - - - 2120.19 - -77.86 - - 2818.56 - - - - - - - - - - -
2884.74 342.88 -10.82 388 2886.07 no move -1.25 - - 1836.44 - - - 2120.25 - -77.86 - - 2818.66 - - - - - - - - - - -
3184.80 375.53 -10.93 418 3190.63 roll -1.25 - - 1836.56 - 4.01 0.171 663.19 -363.4 -77.86 - - 2816.47 - - - - - - - - - 15.98 -
3319.86 393.52 -13.90 445 3324.55 roll -1.25 - - 1836.56 - 3.53 0.069 2118.94 412.4 -77.86 - - 2817.31 - - - - - - - - - 16.06 -
3629.92 428.74 -11.57 477 3635.68 roll -1.25 - - 1836.75 - 4.04 0.172 664.25 -360.1 -77.86 - - 2815.59 - - - - - - - - - 16.04 -
3688.86 436.65 -12.75 489 3695.68 roll -1.25 - - 1835.31 - 3.48 0.067 2120.12 418.4 -77.86 - - 2818.53 - - - - - - - - - 16.07 -
3994.99 469.41 -9.68 520 3996.32 no move -1.25 - - 1836.31 - - - 2120.38 - -77.86 - - 2815.25 - - - - - - - - - - -
4295.04 498.70 -9.13 550 4300.80 roll -1.25 - - 1836.56 - 4.05 0.178 662.69 -359.9 -77.86 - - 2815.53 - - - - - - - - - 16.04 -
4410.08 511.84 -11.06 573 4414.89 roll -1.25 - - 1836.12 - 3.52 0.074 2117.62 413.3 -77.86 - - 2815.41 - - - - - - - - - 16.09 -
4720.10 543.05 -10.31 605 4721.43 no move -1.25 - - 1836.38 - - - 2118.50 - -77.86 - - 2815.31 - - - - - - - - - - -
5020.13 572.97 -10.01 635 5021.46 no move -1.25 - - 1835.94 - - - 2117.38 - -77.86 - - 2814.44 - - - - - - - - - - -
5320.15 601.11 -8.55 665 5321.48 no move -1.25 - - 1836.50 - - - 2118.31 - -77.86 - - 2812.75 - - - - - - - - - - -
5620.18 629.13 -9.72 695 5621.51 no move -1.25 - - 1836.62 - - - 2117.62 - -77.86 - - 2812.09 - - - - - - - - - - -
5920.20 656.74 -9.56 725 5921.53 no move -1.25 - - 1836.31 - - - 2117.75 - -77.86 - - 2813.28 - - - - - - - - - - -
6220.22 683.09 -9.00 755 6221.55 no move -1.25 - - 1836.25 - - - 2117.38 - -77.86 - - 2810.84 - - - - - - - - - - -
6520.25 707.49 -7.07 785 6526.01 roll -1.25 - - 1836.56 - 4.05 0.188 663.25 -359.0 -77.86 - - 2809.75 - - - - - - - - - 16.08 -
6629.12 718.13 -9.79 807 6636.02 roll -1.25 - - 1836.00 - 3.52 0.082 2117.88 413.2 -77.86 - - 2812.75 - - - - - - - - - 16.11 -
6935.30 743.51 -8.36 838 6941.06 roll -1.25 - - 1835.44 - 4.01 0.186 663.31 -362.7 -77.86 - - 2811.41 - - - - - - - - - 16.08 -
6984.27 748.91 -10.50 848 6991.07 roll -1.25 - - 1836.69 - 3.51 0.078 2117.25 414.2 -77.86 - - 2811.16 - - - - - - - - - 16.11 -
7290.34 777.85 -9.08 879 7296.11 roll -1.25 - - 1835.88 - 4.03 0.187 664.50 -360.5 -77.86 - - 2810.34 - - - - - - - - - 16.07 -
7355.42 785.25 -11.88 892 7361.03 roll -1.25 - - 1835.69 - 3.52 0.082 2115.75 412.3 -77.86 - - 2810.97 - - - - - - - - - 16.11 -
7660.38 814.65 -9.64 923 7661.71 no move -1.25 - - 1836.38 - - - 2116.00 - -77.86 - - 2810.81 - - - - - - - - - - -
7960.41 841.69 -8.80 953 7961.74 no move -1.25 - - 1836.38 - - - 2116.25 - -77.86 - - 2808.19 - - - - - - - - - - -
8260.44 866.39 -8.23 983 8265.10 roll -1.25 - - 1835.25 - 3.45 0.147 3471.69 392.9 -77.86 - - 2812.06 - - - - - - - - - 16.10 -
8314.38 871.45 -9.87 994 8321.19 roll -1.25 - - 1835.44 - 3.43 0.083 2086.88 -403.7 -77.86 - - 2810.66 - - - - - - - - - 16.11 -
8620.49 897.18 -7.92 1025 8621.82 no move -1.25 - - 1836.94 - - - 2086.75 - -77.86 - - 2807.97 - - - - - - - - - - -
8920.51 922.12 -7.85 1055 8921.84 no move -1.25 - - 1836.06 - - - 2086.69 - -77.86 - - 2807.75 - - - - - - - - - - -
9220.54 945.67 -7.42 1085 9221.87 no move -1.25 - - 1836.31 - - - 2087.12 - -77.86 - - 2807.62 - - - - - - - - - - -
9520.60 968.70 -8.03 1115 9521.93 no move -1.25 - - 1836.88 - - - 2086.75 - -77.86 - - 2808.53 - - - - - - - - - - -
9770 end dive: TARGET_DEPTH_EXCEEDED
9770 begin apogee
9771.94 990.21 -8.70 1140 9842.29 -0.25 1.74 0.162 2078.94 139.1 0.06 0.342 2186.88 1668.8 - 65.06 2.263 2501.84 -4.7 0.346 - - - - - - 16.08 15.59 13.17
9843 end apogee: CONTROL_FINISHED_OK
9843 begin climb
9843.57 992.33 - 1147 9923.78 1.25 2.52 0.102 2447.69 146.3 3.53 0.147 3471.75 364.0 77.86 72.31 2.224 2180.06 -4.5 0.333 - - - - - - 15.64 15.22 12.90
9985.46 983.28 8.59 1175 9992.26 roll 1.25 - - 2448.25 - 3.35 0.072 2185.88 -383.8 77.86 - - 2174.69 - - - - - - - - - 15.44 -
10291.60 958.02 8.23 1206 10292.93 VBD 1.25 - - 2446.75 - - - 2185.69 - 77.86 - - 2167.84 - - - - - - - - - - -
10591.65 928.78 10.03 1236 10597.55 done 1.25 - - 2447.69 - 4.06 0.166 736.44 -357.0 77.86 - - 2164.03 - - - - - - - - - 15.79 -
10706.69 915.87 11.45 1259 10712.33 done 1.25 - - 2447.88 - 3.63 0.071 2215.50 407.5 77.86 - - 2162.75 - - - - - - - - - 15.83 -
11011.76 885.39 9.55 1290 11016.32 done 1.25 - - 2447.44 - 3.36 0.145 3473.88 374.5 77.86 - - 2163.69 - - - - - - - - - 15.88 -
11095.64 877.30 9.43 1307 11102.50 done 1.25 - - 2447.19 - 3.21 0.075 2185.62 -401.3 77.86 - - 2164.09 - - - - - - - - - 15.91 -
11401.85 849.78 8.85 1338 11403.18 VBD 1.25 - - 2447.44 - - - 2185.12 - 77.86 - - 2161.41 - - - - - - - - - - -
11701.89 824.08 8.90 1368 11706.47 done 1.25 - - 2447.19 - 3.42 0.144 3473.25 376.6 77.86 - - 2163.38 - - - - - - - - - 15.96 -
11771.93 817.16 9.67 1382 11776.45 done 1.25 - - 2447.69 - 3.19 0.071 2182.88 -404.5 77.86 - - 2163.22 - - - - - - - - - 15.97 -
12081.97 788.92 8.71 1414 12086.58 done 1.25 - - 2447.94 - 3.42 0.142 3473.88 377.5 77.86 - - 2162.59 - - - - - - - - - 15.99 -
12172.15 779.36 11.07 1432 12176.60 done 1.25 - - 2447.62 - 3.17 0.069 2182.56 -407.4 77.86 - - 2164.16 - - - - - - - - - 16.01 -
12482.06 750.62 8.96 1464 12483.39 VBD 1.25 - - 2448.31 - - - 2183.88 - 77.86 - - 2159.94 - - - - - - - - - - -
12782.09 724.85 8.87 1494 12783.42 VBD 1.25 - - 2447.50 - - - 2183.50 - 77.86 - - 2160.19 - - - - - - - - - - -
13082.13 700.11 8.70 1524 13083.46 VBD 1.25 - - 2448.12 - - - 2183.62 - 77.86 - - 2160.06 - - - - - - - - - - -
13382.17 674.73 7.89 1554 13383.50 VBD 1.25 - - 2448.19 - - - 2184.00 - 77.86 - - 2159.09 - - - - - - - - - - -
13682.21 649.85 8.57 1584 13688.02 done 1.25 - - 2447.25 - 3.92 0.160 737.00 -369.1 77.86 - - 2158.97 - - - - - - - - - 16.04 -
13827.24 637.36 7.82 1613 13832.84 done 1.25 - - 2447.44 - 3.54 0.070 2219.19 418.7 77.86 - - 2160.03 - - - - - - - - - 16.06 -
14132.29 613.98 8.14 1644 14136.83 done 1.25 - - 2448.25 - 3.28 0.142 3472.06 382.0 77.86 - - 2159.31 - - - - - - - - - 16.06 -
14272.31 602.25 8.76 1672 14276.98 done 1.25 - - 2447.75 - 3.15 0.069 2182.62 -409.3 77.86 - - 2160.34 - - - - - - - - - 16.07 -
14582.36 579.59 7.31 1704 14583.69 VBD 1.27 - - 2447.69 - - - 2182.00 - 77.86 - - 2158.56 - - - - - - - - - - -
14882.41 558.28 7.29 1734 14883.74 VBD 1.30 - - 2447.56 - - - 2182.88 - 77.86 - - 2158.12 - - - - - - - - - - -
15182.45 538.16 6.95 1764 15183.79 VBD 1.33 - - 2448.25 - - - 2182.75 - 77.86 - - 2159.72 - - - - - - - - - - -
15482.49 518.27 6.90 1794 15483.83 VBD 1.36 - - 2447.94 - - - 2182.00 - 77.86 - - 2157.69 - - - - - - - - - - -
15782.53 499.05 6.78 1824 15788.15 1.40 0.19 0.107 2492.75 235.8 3.39 0.139 3471.62 380.4 77.86 - - 2157.47 - - - - - - - - 16.08 16.08 -
15867.55 492.91 6.74 1841 15872.07 done 1.44 - - 2492.50 - 3.15 0.068 2180.25 -410.0 77.86 - - 2159.53 - - - - - - - - - 16.09 -
16177.61 472.24 6.95 1873 16178.94 VBD 1.48 - - 2492.38 - - - 2180.44 - 77.86 - - 2158.28 - - - - - - - - - - -
16477.67 452.58 6.20 1903 16483.29 done 1.53 - - 2491.81 - 3.83 0.152 736.50 -377.0 77.86 - - 2159.44 - - - - - - - - - 16.06 -
16682.73 436.56 8.20 1944 16688.31 done 1.53 - - 2492.25 - 3.50 0.066 2221.75 424.4 77.86 - - 2156.00 - - - - - - - - - 16.09 -
16987.80 417.56 6.16 1975 16989.26 1.59 0.19 0.098 2533.06 214.8 - - 2221.12 - 77.86 - - 2160.06 - - - - - - - - 16.09 - -
17287.87 398.64 6.14 2005 17289.20 VBD 1.64 - - 2533.00 - - - 2221.50 - 77.86 - - 2157.38 - - - - - - - - - - -
17587.93 380.45 6.47 2035 17593.59 done 1.69 - - 2533.56 - 3.98 0.147 735.44 -373.4 77.86 - - 2156.44 - - - - - - - - - 16.07 -
17816.94 363.94 6.82 2081 17823.82 1.73 0.15 0.110 2566.69 220.9 3.51 0.065 2223.12 423.8 77.86 - - 2157.50 - - - - - - - - 16.08 16.10 -
18123.08 344.93 5.44 2112 18153.71 VBD 1.84 - - 2566.50 - - - 2222.81 - 115.06 29.44 1.509 2031.28 -4.3 0.164 - - - - - - - - 13.25
18453.09 315.55 9.35 2145 18454.42 no move 1.84 - - 2565.50 - - - 2222.81 - 115.06 - - 2024.44 - - - - - - - - - - -
18753.14 288.20 9.26 2175 18754.47 no move 1.84 - - 2565.81 - - - 2222.12 - 115.06 - - 2024.22 - - - - - - - - - - -
19053.16 259.39 9.33 2205 19054.48 no move 1.84 - - 2566.50 - - - 2223.00 - 115.06 - - 2025.19 - - - - - - - - - - -
19353.19 231.17 9.20 2235 19357.74 roll 1.84 - - 2566.50 - 3.22 0.135 3474.81 388.8 115.06 - - 2025.59 - - - - - - - - - 16.03 -
19433.22 222.43 10.67 2251 19437.73 roll 1.84 - - 2567.38 - 3.18 0.064 2178.81 -407.5 115.06 - - 2026.19 - - - - - - - - - 16.02 -
19743.25 193.27 8.98 2283 19744.57 no move 1.84 - - 2567.12 - - - 2178.62 - 115.06 - - 2023.91 - - - - - - - - - - -
20043.27 166.24 8.81 2313 20048.93 roll 1.84 - - 2567.12 - 3.84 0.145 736.50 -375.6 115.06 - - 2023.34 - - - - - - - - - 16.04 -
20228.33 149.48 8.51 2350 20233.92 roll 1.84 - - 2567.75 - 3.52 0.061 2224.12 422.6 115.06 - - 2022.41 - - - - - - - - - 16.05 -
20533.38 126.86 6.45 2381 20537.94 roll back 1.89 0.19 0.104 2605.12 196.7 3.19 0.129 3474.25 391.9 115.06 - - 2024.00 - - - - - - - - 16.04 16.04 -
20743.45 112.99 5.84 2423 20775.81 done 1.98 - - 2605.19 - 3.17 0.060 2177.69 -409.0 146.61 27.45 1.217 1899.97 -4.5 0.070 - - - - - - - 16.06 13.20
21073.72 90.67 6.32 2472 21079.53 roll back 2.03 0.17 0.110 2640.81 209.5 3.90 0.140 736.62 -369.5 146.61 - - 1897.09 - - - - - - - - 15.96 15.96 -
21304.88 79.96 4.03 2518 21356.78 2.21 0.21 0.096 2684.25 206.9 3.53 0.059 2226.69 422.1 203.98 46.81 1.195 1667.88 -4.9 0.055 - - - - - - 15.97 15.99 13.15
21534.59 58.27 12.13 2564 21540.28 roll 2.21 - - 2683.56 - 3.23 0.128 3474.94 386.5 203.98 - - 1661.34 - - - - - - - - - 15.85 -
21764.70 34.43 8.50 2610 21770.53 done 2.21 - - 2683.31 - 3.12 0.061 2179.31 -415.3 203.98 - - 1659.91 - - - - - - - - - 15.90 -
21949.77 30.83 0.34 2647 22043.47 2.54 0.45 0.079 2762.38 175.7 3.41 0.123 3474.44 379.8 314.07 87.75 1.126 1219.03 -5.0 0.023 - - - - - - 15.90 15.58 13.11
22236 end climb: SURFACE_DEPTH_REACHED
22236 begin surface coast
22246 end surface coast: CONTROL_FINISHED_OK
22246 begin surface
SM 0.85 - - - - 182.8 0.28 0.163 768.6 2431.6 16.47 0.063 770.5 46.8 - 3.45 0.064 766.6 221.2 -0.300 - - 15.45 15.73 15.75 -