NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 456 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 135.55 of 575.00 AH used of 24V (76.43% remains)
• Surface angle -62.7 deg, depth 0.61 m • Intended pitch -20.4 deg, speed -8.049 cm/s
• VBD pumped to 424.84 (SM_CC=425)
• GPS1 time: 15 s
• GPS2 time: 3 s • Transponder ping count: 5
• 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
7.15 - - - 80.71 VBD -1.25 - - 174.06 - - - 2112.19 - -77.86 72.99 0.005 2371.03 - - - - - - - - - - 15.27
80.97 3.21 -3.97 14 112.25 -1.25 14.23 0.253 1835.75 116.8 - - 2111.69 - -77.86 12.24 0.007 2817.06 36.4 -2.873 - - - - - - 15.43 - 15.35
290.08 41.46 -20.85 56 291.41 no move -1.25 - - 1835.69 - - - 2111.62 - -77.86 - - 2816.69 - - - - - - - - - - -
470.13 73.44 -14.63 92 471.46 no move -1.25 - - 1835.69 - - - 2112.00 - -77.86 - - 2816.88 - - - - - - - - - - -
650.20 95.08 -10.97 128 656.08 roll -1.25 - - 1835.75 - 4.27 0.149 663.44 -339.2 -77.86 - - 2816.75 - - - - - - - - - 15.72 -
675.21 98.30 -11.96 133 680.96 roll -1.25 - - 1835.56 - 3.58 0.051 2118.75 406.5 -77.86 - - 2818.00 - - - - - - - - - 15.76 -
865.22 119.13 -11.67 154 866.55 no move -1.25 - - 1835.94 - - - 2118.81 - -77.86 - - 2815.03 - - - - - - - - - - -
1165.26 150.86 -10.37 184 1166.59 no move -1.25 - - 1836.00 - - - 2118.88 - -77.86 - - 2817.28 - - - - - - - - - - -
1465.29 182.21 -10.78 214 1466.62 no move -1.25 - - 1835.94 - - - 2119.06 - -77.86 - - 2817.03 - - - - - - - - - - -
1765.33 214.54 -10.75 244 1766.66 no move -1.25 - - 1835.88 - - - 2118.69 - -77.86 - - 2817.66 - - - - - - - - - - -
2065.36 247.93 -11.09 274 2066.69 no move -1.25 - - 1836.31 - - - 2118.94 - -77.86 - - 2817.25 - - - - - - - - - - -
2365.39 280.64 -10.72 304 2366.72 no move -1.25 - - 1835.81 - - - 2118.75 - -77.86 - - 2817.44 - - - - - - - - - - -
2665.50 314.22 -10.78 334 2666.83 no move -1.25 - - 1836.00 - - - 2118.69 - -77.86 - - 2816.94 - - - - - - - - - - -
2965.46 347.34 -11.03 364 2971.26 roll -1.25 - - 1835.50 - 4.26 0.154 664.19 -341.4 -77.86 - - 2814.97 - - - - - - - - - 15.85 -
3024.39 354.80 -13.36 376 3031.23 roll -1.25 - - 1835.88 - 3.56 0.054 2116.62 408.0 -77.86 - - 2817.62 - - - - - - - - - 15.92 -
3330.51 387.26 -10.60 407 3331.84 no move -1.25 - - 1835.56 - - - 2116.69 - -77.86 - - 2817.16 - - - - - - - - - - -
3630.54 416.68 -10.09 437 3631.87 no move -1.25 - - 1835.69 - - - 2116.50 - -77.86 - - 2816.97 - - - - - - - - - - -
3930.57 444.93 -9.26 467 3936.38 roll -1.25 - - 1835.44 - 4.29 0.156 664.44 -338.5 -77.86 - - 2817.16 - - - - - - - - - 15.85 -
3995.67 452.37 -11.61 480 4001.28 roll -1.25 - - 1835.69 - 3.58 0.056 2117.06 405.8 -77.86 - - 2815.00 - - - - - - - - - 15.93 -
4300.63 481.39 -9.70 511 4306.44 roll -1.25 - - 1835.62 - 4.21 0.156 663.50 -345.3 -77.86 - - 2815.75 - - - - - - - - - 15.85 -
4345.65 486.36 -11.45 520 4350.32 roll -1.25 - - 1834.00 - 3.53 0.056 2116.31 411.6 -77.86 - - 2816.75 - - - - - - - - - 15.91 -
4655.68 514.98 -9.19 552 4661.48 roll -1.25 - - 1835.75 - 4.22 0.157 663.62 -344.2 -77.86 - - 2814.09 - - - - - - - - - 15.84 -
4714.69 521.38 -11.16 564 4721.47 roll -1.25 - - 1835.56 - 3.52 0.056 2117.69 413.1 -77.86 - - 2815.50 - - - - - - - - - 15.92 -
5020.76 549.04 -9.58 595 5022.09 no move -1.25 - - 1835.75 - - - 2118.31 - -77.86 - - 2815.44 - - - - - - - - - - -
5320.82 575.59 -8.76 625 5326.62 roll -1.25 - - 1835.62 - 4.23 0.159 664.06 -343.8 -77.86 - - 2814.50 - - - - - - - - - 15.84 -
5385.92 582.59 -11.87 638 5391.54 roll -1.25 - - 1835.69 - 3.53 0.056 2118.31 412.0 -77.86 - - 2815.00 - - - - - - - - - 15.92 -
5690.91 610.44 -9.33 669 5696.71 roll -1.25 - - 1835.44 - 4.22 0.160 663.69 -344.7 -77.86 - - 2814.84 - - - - - - - - - 15.83 -
5746.01 616.45 -11.07 680 5751.61 roll -1.25 - - 1834.06 - 3.53 0.055 2116.31 411.5 -77.86 - - 2816.28 - - - - - - - - - 15.92 -
6051.00 645.05 -8.68 711 6056.80 roll -1.25 - - 1835.44 - 4.22 0.161 663.31 -344.3 -77.86 - - 2812.50 - - - - - - - - - 15.83 -
6126.02 653.56 -11.57 726 6130.70 roll -1.25 - - 1835.75 - 3.55 0.059 2117.19 409.5 -77.86 - - 2812.41 - - - - - - - - - 15.91 -
6436.16 681.98 -8.66 758 6437.49 no move -1.25 - - 1835.62 - - - 2117.81 - -77.86 - - 2813.38 - - - - - - - - - - -
6736.15 708.18 -9.15 788 6741.95 roll -1.25 - - 1836.06 - 4.26 0.164 663.38 -341.4 -77.86 - - 2812.22 - - - - - - - - - 15.83 -
6801.24 715.21 -11.77 801 6806.86 roll -1.25 - - 1835.44 - 3.55 0.059 2117.56 409.6 -77.86 - - 2812.50 - - - - - - - - - 15.91 -
7106.21 741.69 -9.23 832 7107.54 no move -1.25 - - 1834.19 - - - 2116.94 - -77.86 - - 2813.50 - - - - - - - - - - -
7406.24 768.52 -8.79 862 7412.05 roll -1.25 - - 1835.38 - 4.26 0.167 664.12 -341.0 -77.86 - - 2811.25 - - - - - - - - - 15.82 -
7461.33 774.34 -11.32 873 7466.94 roll -1.25 - - 1835.69 - 3.56 0.062 2115.44 407.7 -77.86 - - 2812.09 - - - - - - - - - 15.91 -
7766.29 799.92 -8.99 904 7767.62 no move -1.25 - - 1835.56 - - - 2116.12 - -77.86 - - 2812.72 - - - - - - - - - - -
8066.32 823.95 -9.33 934 8067.65 no move -1.25 - - 1835.62 - - - 2115.12 - -77.86 - - 2812.22 - - - - - - - - - - -
8366.36 848.15 -8.88 964 8367.69 no move -1.25 - - 1835.44 - - - 2115.44 - -77.86 - - 2811.84 - - - - - - - - - - -
8666.40 871.94 -8.21 994 8672.22 roll -1.25 - - 1836.19 - 4.32 0.170 664.31 -335.9 -77.86 - - 2812.84 - - - - - - - - - 15.80 -
8725.33 877.82 -9.64 1006 8732.18 roll -1.25 - - 1835.75 - 3.58 0.064 2114.44 405.1 -77.86 - - 2812.28 - - - - - - - - - 15.91 -
9031.45 901.82 -7.69 1037 9032.78 no move -1.25 - - 1835.62 - - - 2113.88 - -77.86 - - 2810.22 - - - - - - - - - - -
9331.48 924.77 -6.11 1067 9332.81 no move -1.25 - - 1835.06 - - - 2114.38 - -77.86 - - 2809.56 - - - - - - - - - - -
9631.51 947.36 -7.69 1097 9632.84 no move -1.25 - - 1835.19 - - - 2113.88 - -77.86 - - 2810.97 - - - - - - - - - - -
9931.56 969.20 -7.13 1127 9932.88 no move -1.25 - - 1836.38 - - - 2114.75 - -77.86 - - 2810.56 - - - - - - - - - - -
10221 end dive: TARGET_DEPTH_EXCEEDED
10221 begin apogee
10222.83 990.43 -7.71 1156 10294.44 -0.25 1.79 0.149 2080.06 136.1 0.08 0.293 2187.75 912.5 - 68.07 2.264 2499.06 -4.6 0.344 - - - - - - 15.82 15.09 12.19
10296 end apogee: CONTROL_FINISHED_OK
10296 begin climb
10296.41 991.98 - 1163 10376.04 1.25 2.62 0.090 2446.88 140.0 - - 2187.69 - 77.86 75.35 2.206 2181.56 -4.2 0.326 - - - - - - 15.17 - 12.37
10671.63 963.42 7.48 1201 10672.97 VBD 1.27 - - 2447.19 - - - 2187.81 - 77.86 - - 2168.84 - - - - - - - - - - -
10971.67 939.02 7.27 1231 10977.28 done 1.29 - - 2447.19 - 3.66 0.131 3472.62 351.0 77.86 - - 2168.94 - - - - - - - - - 15.66 -
11096.69 926.71 9.48 1256 11101.24 done 1.29 - - 2448.12 - 3.28 0.064 2183.94 -392.9 77.86 - - 2169.44 - - - - - - - - - 15.71 -
11406.76 900.70 8.01 1288 11408.09 VBD 1.29 - - 2448.12 - - - 2183.50 - 77.86 - - 2167.00 - - - - - - - - - - -
11706.82 876.20 8.11 1318 11712.58 done 1.29 - - 2447.00 - 3.64 0.127 3474.44 354.7 77.86 - - 2164.59 - - - - - - - - - 15.77 -
11845.85 864.62 8.05 1346 11852.58 done 1.29 - - 2447.56 - 3.24 0.061 2181.81 -399.0 77.86 - - 2166.50 - - - - - - - - - 15.80 -
12151.94 840.23 7.78 1377 12153.27 VBD 1.29 - - 2447.75 - - - 2181.19 - 77.86 - - 2163.34 - - - - - - - - - - -
12452.02 817.88 6.69 1407 12453.35 VBD 1.33 - - 2447.69 - - - 2181.50 - 77.86 - - 2163.34 - - - - - - - - - - -
12752.07 795.23 7.19 1437 12753.41 VBD 1.36 - - 2447.62 - - - 2181.50 - 77.86 - - 2163.81 - - - - - - - - - - -
13052.14 773.43 7.15 1467 13057.79 1.39 0.18 0.115 2484.44 204.6 3.61 0.126 3471.50 357.3 77.86 - - 2163.41 - - - - - - - - 15.84 15.83 -
13171.00 762.60 9.81 1491 13177.88 done 1.39 - - 2486.06 - 3.23 0.060 2180.19 -399.8 77.86 - - 2163.59 - - - - - - - - - 15.88 -
13477.21 738.80 8.14 1522 13478.54 VBD 1.39 - - 2485.94 - - - 2181.19 - 77.86 - - 2161.97 - - - - - - - - - - -
13777.24 714.38 7.85 1552 13778.57 VBD 1.39 - - 2486.38 - - - 2180.50 - 77.86 - - 2163.25 - - - - - - - - - - -
14077.28 689.79 8.20 1582 14078.61 VBD 1.39 - - 2485.75 - - - 2180.75 - 77.86 - - 2163.22 - - - - - - - - - - -
14377.31 665.90 7.93 1612 14378.64 VBD 1.39 - - 2486.50 - - - 2181.38 - 77.86 - - 2162.88 - - - - - - - - - - -
14677.34 642.37 8.14 1642 14682.97 done 1.39 - - 2486.00 - 3.65 0.124 3473.50 354.0 77.86 - - 2161.22 - - - - - - - - - 15.85 -
14812.38 630.87 8.58 1669 14816.92 done 1.39 - - 2486.31 - 3.22 0.059 2180.31 -401.6 77.86 - - 2163.97 - - - - - - - - - 15.89 -
15122.42 609.35 6.92 1701 15123.75 VBD 1.42 - - 2486.12 - - - 2180.12 - 77.86 - - 2162.50 - - - - - - - - - - -
15422.46 589.28 6.21 1731 15423.79 VBD 1.48 - - 2486.50 - - - 2180.06 - 77.86 - - 2160.94 - - - - - - - - - - -
15722.50 567.07 7.40 1761 15728.26 done 1.49 - - 2484.12 - 4.13 0.137 737.25 -349.3 77.86 - - 2162.03 - - - - - - - - - 15.82 -
15797.50 560.88 9.02 1776 15803.12 done 1.49 - - 2485.19 - 3.62 0.053 2222.19 410.2 77.86 - - 2159.81 - - - - - - - - - 15.89 -
16102.56 538.29 7.38 1807 16108.12 done 1.51 - - 2485.94 - 3.47 0.120 3473.12 360.5 77.86 - - 2161.22 - - - - - - - - - 15.85 -
16257.57 525.65 7.83 1838 16262.10 done 1.51 - - 2485.88 - 3.19 0.057 2180.19 -405.3 77.86 - - 2162.09 - - - - - - - - - 15.88 -
16567.62 504.81 6.49 1870 16569.09 1.56 0.19 0.093 2525.56 208.8 - - 2179.81 - 77.86 - - 2161.50 - - - - - - - - 15.85 - -
16867.65 484.83 5.90 1900 16894.40 VBD 1.65 - - 2526.81 - - - 2180.69 - 108.55 25.61 1.644 2056.75 -4.1 0.207 - - - - - - - - 12.21
17187.67 457.02 9.33 1932 17193.43 roll 1.65 - - 2526.88 - 3.66 0.117 3473.06 353.1 108.55 - - 2051.56 - - - - - - - - - 15.72 -
17376.60 437.48 9.94 1970 17383.45 roll 1.65 - - 2527.00 - 3.22 0.057 2180.25 -401.5 108.55 - - 2051.88 - - - - - - - - - 15.76 -
17682.81 410.42 8.58 2001 17688.56 roll 1.65 - - 2527.00 - 4.08 0.133 736.25 -353.9 108.55 - - 2050.38 - - - - - - - - - 15.71 -
17777.84 400.68 10.81 2020 17783.47 roll 1.65 - - 2527.44 - 3.64 0.051 2222.50 408.3 108.55 - - 2049.16 - - - - - - - - - 15.75 -
18082.91 375.72 8.33 2051 18084.24 no move 1.65 - - 2527.12 - - - 2222.56 - 108.55 - - 2049.25 - - - - - - - - - - -
18382.97 351.42 7.91 2081 18387.56 done 1.65 - - 2526.94 - 3.48 0.117 3473.62 359.5 108.55 - - 2050.78 - - - - - - - - - 15.81 -
18483.08 342.29 8.57 2101 18487.56 roll 1.65 - - 2526.94 - 3.23 0.054 2177.12 -401.4 108.55 - - 2049.59 - - - - - - - - - 15.84 -
18793.10 319.39 6.78 2133 18798.90 roll 1.69 - - 2526.94 - 4.09 0.132 735.50 -352.5 108.55 - - 2047.94 - - - - - - - - - 15.75 -
18852.08 313.62 9.42 2145 18858.88 done 1.69 - - 2526.75 - 3.63 0.051 2223.56 409.9 108.55 - - 2049.66 - - - - - - - - - 15.86 -
19158.20 290.20 7.44 2176 19159.67 1.71 0.17 0.097 2563.88 218.4 - - 2223.62 - 108.55 - - 2050.41 - - - - - - - - 15.77 - -
19458.20 263.72 8.99 2206 19463.78 done 1.71 - - 2561.56 - 3.45 0.115 3473.38 362.2 108.55 - - 2048.62 - - - - - - - - - 15.79 -
19577.14 252.14 10.46 2230 19583.95 done 1.71 - - 2563.56 - 3.23 0.054 2178.06 -401.0 108.55 - - 2049.31 - - - - - - - - - 15.80 -
19883.27 227.42 7.98 2261 19884.60 VBD 1.71 - - 2561.81 - - - 2177.94 - 108.55 - - 2049.44 - - - - - - - - - - -
20183.31 205.57 7.02 2291 20184.64 VBD 1.74 - - 2563.50 - - - 2178.81 - 108.55 - - 2049.41 - - - - - - - - - - -
20483.35 185.95 6.38 2321 20484.68 VBD 1.79 - - 2563.62 - - - 2178.56 - 108.55 - - 2049.34 - - - - - - - - - - -
20783.38 166.66 6.63 2351 20784.71 VBD 1.83 - - 2563.81 - - - 2178.81 - 108.55 - - 2049.22 - - - - - - - - - - -
21083.41 147.17 5.93 2381 21114.21 1.92 0.28 0.083 2612.94 175.5 - - 2179.06 - 138.85 26.75 1.252 1932.69 -4.4 0.088 - - - - - - 15.83 - 12.18
21413.44 115.57 10.78 2415 21419.15 roll 1.92 - - 2614.12 - 4.18 0.130 736.69 -345.1 138.85 - - 1928.53 - - - - - - - - - 15.70 -
21472.43 108.92 10.75 2427 21479.22 roll 1.92 - - 2614.44 - 3.68 0.051 2223.69 404.1 138.85 - - 1927.78 - - - - - - - - - 15.74 -
21778.52 84.87 6.54 2478 21779.85 no move 1.97 - - 2614.31 - - - 2223.31 - 138.85 - - 1926.12 - - - - - - - - - - -
21958.56 73.17 5.33 2514 21994.31 2.09 0.20 0.085 2654.94 203.2 - - 2223.19 - 177.68 33.47 1.163 1775.66 -4.5 0.049 - - - - - - 15.76 - 12.30
22173.60 55.94 10.41 2557 22179.46 roll 2.09 - - 2656.50 - 4.29 0.124 735.44 -346.8 177.68 - - 1770.91 - - - - - - - - - 15.58 -
22358.67 51.30 0.69 2594 22451.49 2.40 0.43 0.065 2731.44 174.3 3.65 0.048 2227.75 408.9 282.81 86.64 1.150 1347.50 -4.9 0.037 - - - - - - 15.63 15.70 12.28
22629.28 26.73 15.34 2648 22635.17 roll 2.40 - - 2731.62 - 4.34 0.120 735.38 -343.9 282.81 - - 1340.53 - - - - - - - - - 15.51 -
22759 end climb: SURFACE_DEPTH_REACHED
22759 begin surface coast
22769 end surface coast: CONTROL_FINISHED_OK
22769 begin surface
SM 0.61 - - - - 172.9 - - 768.1 - 17.27 0.061 763.6 44.2 - 3.41 0.049 772.6 225.3 -0.287 - - 30.00 15.57 15.62 -