NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 133 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 44.18 of 575.00 AH used of 24V (92.32% remains)
• Surface angle -62.6 deg, depth 0.78 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.96 (SM_CC=425)
• GPS1 time: 35 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
6.38 - - - 69.29 VBD -1.25 - - 176.50 - - - 2114.19 - -77.86 62.33 0.005 2240.78 - - - - - - - - - - 15.66
69.56 3.31 -4.50 12 106.78 -1.25 13.60 0.268 1836.88 122.1 4.01 0.164 662.44 -362.0 -77.86 14.41 0.006 2816.81 40.0 -3.675 - - - - - - 15.65 15.66 15.69
189.53 34.47 -29.14 36 195.29 roll -1.25 - - 1836.88 - 3.49 0.065 2118.50 417.2 -77.86 - - 2817.75 - - - - - - - - - 15.76 -
374.56 69.36 -14.71 73 375.88 no move -1.25 - - 1837.06 - - - 2118.56 - -77.86 - - 2817.38 - - - - - - - - - - -
554.61 94.78 -12.50 109 555.94 no move -1.25 - - 1836.38 - - - 2118.31 - -77.86 - - 2818.12 - - - - - - - - - - -
739.67 117.99 -12.54 132 744.31 roll -1.25 - - 1836.94 - 3.44 0.123 3474.00 394.1 -77.86 - - 2818.66 - - - - - - - - - 15.90 -
883.55 136.62 -14.47 161 890.43 roll -1.25 - - 1837.19 - 3.37 0.062 2081.19 -413.3 -77.86 - - 2819.59 - - - - - - - - - 15.93 -
1189.76 173.23 -11.63 192 1194.40 roll -1.25 - - 1836.06 - 3.49 0.123 3475.06 399.4 -77.86 - - 2820.44 - - - - - - - - - 15.96 -
1243.63 180.15 -12.57 203 1250.48 roll -1.25 - - 1836.50 - 3.28 0.063 2080.62 -425.1 -77.86 - - 2818.97 - - - - - - - - - 15.98 -
1549.82 214.13 -10.72 234 1551.15 no move -1.25 - - 1836.88 - - - 2080.44 - -77.86 - - 2819.19 - - - - - - - - - - -
1849.97 247.12 -11.22 264 1855.60 roll -1.25 - - 1836.00 - 3.81 0.166 662.44 -372.2 -77.86 - - 2820.22 - - - - - - - - - 16.00 -
1884.90 251.88 -14.18 271 1889.57 roll -1.25 - - 1836.81 - 3.40 0.061 2120.25 428.8 -77.86 - - 2818.75 - - - - - - - - - 16.04 -
2194.95 286.79 -11.37 303 2196.28 no move -1.25 - - 1837.19 - - - 2120.88 - -77.86 - - 2819.09 - - - - - - - - - - -
2494.99 320.84 -11.20 333 2500.74 roll -1.25 - - 1836.81 - 3.90 0.166 662.19 -374.0 -77.86 - - 2816.56 - - - - - - - - - 16.03 -
2653.98 342.43 -13.86 365 2660.77 roll -1.25 - - 1836.69 - 3.39 0.066 2121.31 430.4 -77.86 - - 2818.34 - - - - - - - - - 16.07 -
2960.08 374.83 -10.30 396 2965.82 roll -1.25 - - 1836.56 - 3.90 0.166 662.19 -374.1 -77.86 - - 2815.88 - - - - - - - - - 16.04 -
3015.11 381.18 -11.92 407 3019.74 roll -1.25 - - 1837.19 - 3.38 0.064 2121.44 431.7 -77.86 - - 2817.62 - - - - - - - - - 16.07 -
3325.11 413.84 -11.02 439 3326.44 no move -1.25 - - 1836.94 - - - 2121.62 - -77.86 - - 2817.66 - - - - - - - - - - -
3625.12 446.48 -11.40 469 3626.45 no move -1.25 - - 1836.50 - - - 2121.75 - -77.86 - - 2816.97 - - - - - - - - - - -
3925.15 479.16 -10.37 499 3926.47 no move -1.25 - - 1836.81 - - - 2121.62 - -77.86 - - 2816.69 - - - - - - - - - - -
4225.17 509.88 -9.69 529 4230.91 roll -1.25 - - 1837.00 - 3.93 0.175 663.62 -371.0 -77.86 - - 2815.09 - - - - - - - - - 16.07 -
4340.19 523.80 -12.01 552 4344.84 roll -1.25 - - 1836.88 - 3.40 0.070 2118.81 428.0 -77.86 - - 2815.25 - - - - - - - - - 16.10 -
4650.21 555.28 -10.16 584 4651.54 no move -1.25 - - 1836.56 - - - 2119.12 - -77.86 - - 2813.78 - - - - - - - - - - -
4950.23 585.81 -10.05 614 4951.56 no move -1.25 - - 1836.44 - - - 2118.38 - -77.86 - - 2812.88 - - - - - - - - - - -
5250.25 615.00 -8.85 644 5251.58 no move -1.25 - - 1836.62 - - - 2118.94 - -77.86 - - 2811.78 - - - - - - - - - - -
5550.27 645.03 -10.61 674 5551.60 no move -1.25 - - 1836.56 - - - 2119.31 - -77.86 - - 2813.56 - - - - - - - - - - -
5850.29 674.13 -8.93 704 5856.03 roll -1.25 - - 1836.88 - 3.84 0.183 662.00 -379.5 -77.86 - - 2815.00 - - - - - - - - - 16.08 -
5905.32 680.36 -11.01 715 5910.10 roll -1.25 - - 1837.06 - 3.43 0.074 2117.69 424.4 -77.86 - - 2814.09 - - - - - - - - - 16.11 -
6215.34 707.63 -8.26 747 6216.67 no move -1.25 - - 1836.88 - - - 2117.00 - -77.86 - - 2811.75 - - - - - - - - - - -
6515.35 732.29 -8.69 777 6521.12 roll -1.25 - - 1836.38 - 3.97 0.184 663.38 -366.2 -77.86 - - 2813.41 - - - - - - - - - 16.09 -
6600.37 740.47 -10.22 794 6605.03 roll -1.25 - - 1837.25 - 3.42 0.078 2117.00 425.0 -77.86 - - 2810.66 - - - - - - - - - 16.12 -
6910.39 764.93 -6.88 826 6911.72 no move -1.25 - - 1836.44 - - - 2117.06 - -77.86 - - 2809.38 - - - - - - - - - - -
7210.41 790.49 -8.75 856 7211.73 no move -1.25 - - 1837.06 - - - 2117.00 - -77.86 - - 2809.81 - - - - - - - - - - -
7510.43 817.02 -9.11 886 7516.21 roll -1.25 - - 1837.06 - 4.02 0.187 663.25 -361.6 -77.86 - - 2808.41 - - - - - - - - - 16.09 -
7565.46 822.91 -11.66 897 7570.10 roll -1.25 - - 1836.75 - 3.43 0.079 2117.62 424.0 -77.86 - - 2809.34 - - - - - - - - - 16.13 -
7875.46 850.54 -8.25 929 7876.79 no move -1.25 - - 1837.12 - - - 2117.50 - -77.86 - - 2808.12 - - - - - - - - - - -
8175.49 876.00 -9.21 959 8176.81 no move -1.25 - - 1836.62 - - - 2117.00 - -77.86 - - 2808.88 - - - - - - - - - - -
8475.50 898.45 -7.99 989 8476.83 no move -1.25 - - 1836.81 - - - 2117.31 - -77.86 - - 2807.12 - - - - - - - - - - -
8775.52 920.20 -8.01 1019 8776.85 no move -1.25 - - 1836.62 - - - 2117.25 - -77.86 - - 2806.16 - - - - - - - - - - -
9075.54 940.76 -6.98 1049 9076.87 no move -1.25 - - 1836.88 - - - 2117.44 - -77.86 - - 2807.66 - - - - - - - - - - -
9375.57 962.27 -6.27 1079 9376.90 no move -1.25 - - 1837.06 - - - 2117.19 - -77.86 - - 2806.28 - - - - - - - - - - -
9675.62 985.92 -7.95 1109 9676.95 no move -1.25 - - 1837.19 - - - 2117.31 - -77.86 - - 2807.22 - - - - - - - - - - -
9725 end dive: TARGET_DEPTH_EXCEEDED
9725 begin apogee
9726.84 990.32 -8.81 1114 9796.65 -0.25 1.73 0.161 2079.50 140.1 0.07 0.333 2184.31 957.1 - 64.28 2.291 2498.94 -4.8 0.345 - - - - - - 16.07 15.60 13.13
9797 end apogee: CONTROL_FINISHED_OK
9797 begin climb
9797.99 991.75 - 1121 9876.76 1.25 2.51 0.099 2448.31 146.9 - - 2184.69 - 77.86 71.87 2.240 2181.41 -4.4 0.326 - - - - - - 15.65 - 13.02
10175.70 959.49 8.86 1160 10177.03 VBD 1.25 - - 2447.56 - - - 2184.31 - 77.86 - - 2167.78 - - - - - - - - - - -
10475.74 931.02 9.75 1190 10477.07 VBD 1.25 - - 2448.25 - - - 2184.31 - 77.86 - - 2165.62 - - - - - - - - - - -
10775.79 901.76 9.91 1220 10780.35 done 1.25 - - 2448.25 - 3.38 0.143 3472.75 381.2 77.86 - - 2165.31 - - - - - - - - - 15.86 -
10899.68 888.11 12.25 1245 10906.57 done 1.25 - - 2448.19 - 3.24 0.071 2182.81 -398.1 77.86 - - 2165.81 - - - - - - - - - 15.89 -
11205.90 858.44 9.38 1276 11207.23 VBD 1.25 - - 2448.12 - - - 2182.50 - 77.86 - - 2163.19 - - - - - - - - - - -
11505.94 828.65 9.98 1306 11510.50 done 1.25 - - 2448.25 - 3.35 0.139 3473.00 385.2 77.86 - - 2163.38 - - - - - - - - - 15.95 -
11599.96 818.92 11.80 1325 11606.68 done 1.25 - - 2447.81 - 3.22 0.068 2182.38 -400.8 77.86 - - 2166.09 - - - - - - - - - 15.97 -
11906.03 789.39 8.81 1356 11907.36 VBD 1.25 - - 2447.69 - - - 2182.50 - 77.86 - - 2161.88 - - - - - - - - - - -
12206.07 763.86 7.71 1386 12207.40 VBD 1.25 - - 2447.62 - - - 2182.50 - 77.86 - - 2162.53 - - - - - - - - - - -
12506.11 739.67 8.45 1416 12507.44 VBD 1.25 - - 2448.06 - - - 2182.62 - 77.86 - - 2160.41 - - - - - - - - - - -
12806.17 715.84 7.49 1446 12807.50 VBD 1.27 - - 2448.00 - - - 2182.69 - 77.86 - - 2160.88 - - - - - - - - - - -
13106.19 692.03 7.94 1476 13107.53 VBD 1.27 - - 2448.12 - - - 2183.19 - 77.86 - - 2160.38 - - - - - - - - - - -
13406.23 669.18 7.81 1506 13407.56 VBD 1.27 - - 2448.31 - - - 2182.62 - 77.86 - - 2159.34 - - - - - - - - - - -
13706.28 646.58 7.24 1536 13707.61 VBD 1.29 - - 2447.75 - - - 2182.12 - 77.86 - - 2161.12 - - - - - - - - - - -
14006.32 623.55 7.33 1566 14007.66 VBD 1.32 - - 2448.56 - - - 2183.06 - 77.86 - - 2159.62 - - - - - - - - - - -
14306.35 600.96 7.82 1596 14307.68 VBD 1.32 - - 2448.19 - - - 2183.38 - 77.86 - - 2158.75 - - - - - - - - - - -
14606.41 580.13 6.50 1626 14607.74 VBD 1.36 - - 2448.06 - - - 2183.62 - 77.86 - - 2160.19 - - - - - - - - - - -
14906.45 558.95 7.52 1656 14907.91 1.38 0.16 0.128 2483.00 218.4 - - 2183.19 - 77.86 - - 2159.06 - - - - - - - - 16.07 - -
15206.49 537.31 7.13 1686 15212.29 done 1.41 - - 2483.19 - 3.83 0.155 734.81 -378.2 77.86 - - 2157.81 - - - - - - - - - 16.06 -
15295.33 529.89 8.56 1704 15302.23 done 1.41 - - 2482.50 - 3.44 0.064 2223.00 432.6 77.86 - - 2159.31 - - - - - - - - - 16.09 -
15601.56 508.18 6.64 1735 15602.89 VBD 1.45 - - 2483.44 - - - 2222.81 - 77.86 - - 2156.88 - - - - - - - - - - -
15901.59 488.54 6.16 1765 15906.11 done 1.50 - - 2483.19 - 3.12 0.136 3476.12 401.7 77.86 - - 2158.91 - - - - - - - - - 16.07 -
16015.84 480.43 7.23 1788 16022.36 1.53 0.17 0.108 2518.88 209.9 3.09 0.065 2179.44 -419.6 77.86 - - 2159.09 - - - - - - - - 16.06 16.09 -
16321.73 460.73 6.26 1819 16323.06 VBD 1.58 - - 2519.19 - - - 2179.69 - 77.86 - - 2157.88 - - - - - - - - - - -
16621.79 442.14 6.36 1849 16623.12 VBD 1.63 - - 2518.75 - - - 2179.62 - 77.86 - - 2157.25 - - - - - - - - - - -
16921.87 423.38 6.21 1879 16927.46 1.69 0.19 0.107 2558.25 207.9 3.30 0.133 3473.50 392.1 77.86 - - 2159.25 - - - - - - - - 16.07 16.08 -
17010.74 416.97 7.02 1897 17017.56 done 1.72 - - 2558.75 - 3.12 0.065 2179.94 -414.6 77.86 - - 2159.69 - - - - - - - - - 16.09 -
17316.97 396.47 7.47 1928 17318.30 VBD 1.74 - - 2559.25 - - - 2180.00 - 77.86 - - 2157.78 - - - - - - - - - - -
17617.03 377.54 5.67 1958 17649.37 1.84 0.16 0.115 2591.12 199.2 3.35 0.133 3473.88 386.2 111.84 27.20 1.549 2041.06 -4.3 0.174 - - - - - - 16.08 15.89 13.17
17872.17 348.28 13.94 2009 17876.70 roll 1.84 - - 2591.44 - 3.11 0.064 2180.38 -415.9 111.84 - - 2039.53 - - - - - - - - - 15.98 -
18182.21 314.04 10.32 2041 18183.54 no move 1.84 - - 2591.06 - - - 2180.94 - 111.84 - - 2037.72 - - - - - - - - - - -
18482.24 282.77 10.82 2071 18483.57 no move 1.84 - - 2591.38 - - - 2180.69 - 111.84 - - 2037.50 - - - - - - - - - - -
18782.28 255.16 8.63 2101 18787.90 roll 1.84 - - 2590.38 - 3.67 0.144 735.25 -393.9 111.84 - - 2037.66 - - - - - - - - - 16.02 -
18867.37 246.34 10.80 2118 18872.90 roll 1.84 - - 2591.00 - 3.43 0.058 2225.50 434.5 111.84 - - 2037.53 - - - - - - - - - 16.02 -
19172.34 215.52 10.42 2149 19176.85 roll 1.84 - - 2591.19 - 3.15 0.130 3474.19 396.4 111.84 - - 2037.78 - - - - - - - - - 16.02 -
19306.21 201.12 10.07 2176 19313.04 roll 1.84 - - 2591.62 - 3.14 0.060 2178.25 -412.7 111.84 - - 2036.41 - - - - - - - - - 16.04 -
19612.41 175.84 7.48 2207 19616.94 roll 1.86 - - 2591.12 - 3.27 0.125 3474.88 396.5 111.84 - - 2037.66 - - - - - - - - - 16.04 -
19712.44 166.70 8.55 2227 19716.94 roll 1.86 - - 2592.06 - 3.09 0.060 2178.69 -419.5 111.84 - - 2037.28 - - - - - - - - - 16.04 -
20022.49 147.86 5.03 2259 20064.11 1.98 0.17 0.108 2626.56 202.9 3.31 0.123 3477.00 392.2 154.97 36.77 1.305 1868.19 -4.6 0.087 - - - - - - 16.04 15.84 13.18
20286.35 121.70 9.84 2312 20293.18 roll 1.98 - - 2626.62 - 3.15 0.058 2176.81 -412.8 154.97 - - 1862.00 - - - - - - - - - 15.93 -
20592.55 108.86 2.33 2343 20664.81 2.23 0.34 0.083 2688.69 182.6 3.84 0.141 734.00 -375.7 236.59 65.12 1.243 1535.09 -5.0 0.073 - - - - - - 15.95 15.65 13.05
20717.58 97.79 15.64 2368 20723.44 roll 2.23 - - 2687.81 - 3.54 0.058 2223.75 420.8 236.59 - - 1531.38 - - - - - - - - - 15.72 -
20902.63 73.87 11.76 2405 20908.33 done 2.23 - - 2687.56 - 3.17 0.123 3472.88 394.0 236.59 - - 1527.56 - - - - - - - - - 15.79 -
20982.67 63.12 13.54 2421 20988.35 done 2.23 - - 2689.00 - 3.15 0.057 2179.31 -410.7 236.59 - - 1525.44 - - - - - - - - - 15.82 -
21167.73 43.96 7.77 2458 21173.44 done 2.23 - - 2689.19 - 3.34 0.121 3475.38 388.0 236.59 - - 1525.31 - - - - - - - - - 15.82 -
21397.84 43.94 -2.34 2504 21520.60 2.67 0.63 0.079 2792.88 164.6 3.14 0.055 2176.69 -413.6 384.86 114.44 1.144 930.84 -5.2 0.033 - - - - - - 15.86 15.87 13.01
21699.64 4.72 18.11 2564 21704.07 roll 2.67 - - 2793.44 - 3.35 0.117 3473.38 387.1 384.86 - - 925.75 - - - - - - - - - 15.66 -
21713 end climb: SURFACE_DEPTH_REACHED
21713 begin surface coast
21723 end surface coast: CONTROL_FINISHED_OK
21723 begin surface
SM 0.55 - - - - 176.5 2.10 0.295 767.6 365.5 16.80 0.067 771.8 45.9 - 3.43 0.061 763.4 221.6 -0.204 - - 12.78 15.66 15.69 -