NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 460 * Raw log
prev dive * next dive * dive
• Previous call tries 3 • 136.81 of 575.00 AH used of 24V (76.21% remains)
• Surface angle -56.6 deg, depth 0.89 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.78 (SM_CC=425)
• GPS1 time: 33 s
• GPS2 time: 2 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
7.17 - - - 75.63 VBD -1.25 - - 172.69 - - - 2117.31 - -77.86 67.89 0.005 2291.12 - - - - - - - - - - 15.27
75.97 3.18 -3.96 13 114.24 -1.25 14.22 0.250 1835.50 116.9 4.36 0.149 664.44 -333.2 -77.86 14.80 0.006 2815.84 35.5 -3.269 - - - - - - 15.44 15.27 15.33
277.05 43.03 -23.47 53 282.86 roll -1.25 - - 1836.06 - 3.66 0.054 2116.12 396.6 -77.86 - - 2816.84 - - - - - - - - - 15.65 -
462.14 71.05 -12.55 90 467.95 roll -1.25 - - 1834.81 - 3.81 0.111 3472.38 356.0 -77.86 - - 2815.62 - - - - - - - - - 15.70 -
667.20 97.75 -12.33 131 672.95 roll -1.25 - - 1834.50 - 3.52 0.056 2081.44 -395.2 -77.86 - - 2817.16 - - - - - - - - - 15.76 -
857.21 116.65 -10.32 152 858.53 no move -1.25 - - 1836.06 - - - 2082.12 - -77.86 - - 2815.50 - - - - - - - - - - -
1157.25 149.47 -10.50 182 1158.58 no move -1.25 - - 1835.50 - - - 2082.31 - -77.86 - - 2816.38 - - - - - - - - - - -
1457.28 182.10 -10.46 212 1463.03 roll -1.25 - - 1835.62 - 3.91 0.110 3473.75 355.9 -77.86 - - 2816.47 - - - - - - - - - 15.85 -
1506.21 187.72 -11.70 222 1513.03 roll -1.25 - - 1835.81 - 3.50 0.056 2083.50 -397.2 -77.86 - - 2816.66 - - - - - - - - - 15.86 -
1812.33 218.84 -10.20 253 1813.66 no move -1.25 - - 1835.69 - - - 2083.12 - -77.86 - - 2814.72 - - - - - - - - - - -
2112.35 249.35 -10.03 283 2113.68 no move -1.25 - - 1835.56 - - - 2083.44 - -77.86 - - 2816.25 - - - - - - - - - - -
2412.39 279.23 -10.17 313 2413.72 no move -1.25 - - 1835.94 - - - 2083.44 - -77.86 - - 2816.25 - - - - - - - - - - -
2712.43 309.33 -9.79 343 2713.75 no move -1.25 - - 1835.62 - - - 2083.50 - -77.86 - - 2816.78 - - - - - - - - - - -
3012.46 341.19 -11.67 373 3013.79 no move -1.25 - - 1835.94 - - - 2083.62 - -77.86 - - 2816.25 - - - - - - - - - - -
3312.49 373.26 -10.56 403 3313.82 no move -1.25 - - 1835.50 - - - 2083.38 - -77.86 - - 2816.41 - - - - - - - - - - -
3612.53 404.50 -9.95 433 3613.86 no move -1.25 - - 1835.81 - - - 2083.94 - -77.86 - - 2816.41 - - - - - - - - - - -
3912.56 433.63 -9.19 463 3913.89 no move -1.25 - - 1836.12 - - - 2083.12 - -77.86 - - 2815.66 - - - - - - - - - - -
4212.59 461.83 -8.72 493 4213.92 no move -1.25 - - 1835.44 - - - 2083.56 - -77.86 - - 2813.44 - - - - - - - - - - -
4512.64 490.50 -9.64 523 4518.42 roll -1.25 - - 1834.94 - 4.14 0.157 663.81 -342.9 -77.86 - - 2815.56 - - - - - - - - - 15.84 -
4571.64 497.27 -12.02 535 4578.43 roll -1.25 - - 1834.94 - 3.61 0.058 2115.62 402.2 -77.86 - - 2816.03 - - - - - - - - - 15.92 -
4877.72 525.60 -9.61 566 4879.05 no move -1.25 - - 1835.94 - - - 2115.88 - -77.86 - - 2813.66 - - - - - - - - - - -
5177.78 553.75 -9.31 596 5183.59 roll -1.25 - - 1835.94 - 4.26 0.156 663.81 -340.9 -77.86 - - 2812.44 - - - - - - - - - 15.84 -
5312.83 569.15 -11.30 623 5318.65 roll -1.25 - - 1834.75 - 3.60 0.058 2116.19 403.4 -77.86 - - 2813.75 - - - - - - - - - 15.92 -
5617.89 597.85 -9.01 654 5619.22 no move -1.25 - - 1835.88 - - - 2116.75 - -77.86 - - 2813.88 - - - - - - - - - - -
5917.95 625.52 -9.37 684 5919.28 no move -1.25 - - 1835.94 - - - 2116.62 - -77.86 - - 2812.31 - - - - - - - - - - -
6218.02 652.69 -9.34 714 6223.83 roll -1.25 - - 1835.62 - 4.25 0.163 664.19 -341.7 -77.86 - - 2812.66 - - - - - - - - - 15.83 -
6283.12 658.90 -10.18 727 6288.74 roll -1.25 - - 1834.25 - 3.61 0.060 2115.00 401.9 -77.86 - - 2813.78 - - - - - - - - - 15.91 -
6588.11 687.01 -9.72 758 6589.44 no move -1.25 - - 1835.88 - - - 2115.06 - -77.86 - - 2812.69 - - - - - - - - - - -
6888.15 714.20 -8.97 788 6889.48 no move -1.25 - - 1835.50 - - - 2115.31 - -77.86 - - 2810.53 - - - - - - - - - - -
7188.19 739.96 -8.65 818 7189.51 no move -1.25 - - 1836.12 - - - 2115.50 - -77.86 - - 2811.94 - - - - - - - - - - -
7488.22 763.82 -7.84 848 7489.55 no move -1.25 - - 1835.81 - - - 2114.94 - -77.86 - - 2810.34 - - - - - - - - - - -
7788.26 787.23 -8.10 878 7794.06 roll -1.25 - - 1835.94 - 4.26 0.167 664.00 -340.6 -77.86 - - 2810.12 - - - - - - - - - 15.81 -
7883.28 795.90 -9.62 897 7888.99 roll -1.25 - - 1836.00 - 3.65 0.063 2113.69 397.2 -77.86 - - 2809.22 - - - - - - - - - 15.92 -
8188.32 819.70 -8.16 928 8189.65 no move -1.25 - - 1835.44 - - - 2113.62 - -77.86 - - 2810.91 - - - - - - - - - - -
8488.35 844.31 -8.39 958 8494.15 roll -1.25 - - 1834.19 - 4.26 0.167 664.50 -340.2 -77.86 - - 2810.44 - - - - - - - - - 15.80 -
8547.49 850.21 -10.57 970 8554.16 roll -1.25 - - 1835.75 - 3.65 0.064 2113.56 397.0 -77.86 - - 2811.34 - - - - - - - - - 15.90 -
8853.41 876.32 -8.53 1001 8854.74 no move -1.25 - - 1835.56 - - - 2112.94 - -77.86 - - 2809.12 - - - - - - - - - - -
9153.44 901.44 -9.47 1031 9154.77 no move -1.25 - - 1835.38 - - - 2113.31 - -77.86 - - 2810.28 - - - - - - - - - - -
9453.47 924.14 -7.99 1061 9459.29 roll -1.25 - - 1835.94 - 4.30 0.170 664.44 -336.9 -77.86 - - 2810.28 - - - - - - - - - 15.78 -
9512.47 930.40 -9.94 1073 9519.27 roll -1.25 - - 1835.81 - 3.65 0.067 2111.69 396.5 -77.86 - - 2809.75 - - - - - - - - - 15.90 -
9818.64 953.14 -6.54 1104 9824.47 roll -1.25 - - 1834.44 - 4.24 0.173 664.38 -341.3 -77.86 - - 2809.34 - - - - - - - - - 15.78 -
9883.53 960.08 -11.21 1117 9889.24 roll -1.25 - - 1835.69 - 3.66 0.070 2114.94 396.3 -77.86 - - 2807.09 - - - - - - - - - 15.89 -
10188.57 981.89 -6.85 1148 10194.38 roll -1.25 - - 1835.50 - 4.26 0.174 664.38 -340.5 -77.86 - - 2806.84 - - - - - - - - - 15.76 -
10243.65 987.65 -10.21 1159 10249.29 roll -1.25 - - 1835.56 - 3.63 0.070 2112.38 398.9 -77.86 - - 2808.03 - - - - - - - - - 15.89 -
10288 end dive: TARGET_DEPTH_EXCEEDED
10288 begin apogee
10289.83 990.87 -7.92 1164 10360.39 -0.25 1.80 0.150 2080.25 135.9 0.08 0.290 2188.00 945.2 - 66.93 2.286 2500.19 -4.6 0.347 - - - - - - 15.79 15.08 12.16
10362 end apogee: CONTROL_FINISHED_OK
10362 begin climb
10362.36 992.68 - 1171 10440.66 1.25 2.64 0.091 2447.06 138.9 - - 2187.25 - 77.86 74.39 2.230 2181.34 -4.3 0.332 - - - - - - 15.16 - 12.33
10738.84 962.79 10.09 1209 10740.17 VBD 1.25 - - 2447.31 - - - 2187.06 - 77.86 - - 2171.03 - - - - - - - - - - -
11038.65 937.00 9.21 1239 11039.98 VBD 1.25 - - 2447.62 - - - 2186.75 - 77.86 - - 2168.47 - - - - - - - - - - -
11338.70 910.79 8.76 1269 11340.03 VBD 1.25 - - 2447.94 - - - 2186.88 - 77.86 - - 2165.34 - - - - - - - - - - -
11638.77 884.81 8.04 1299 11644.40 done 1.25 - - 2448.31 - 3.66 0.133 3472.31 351.2 77.86 - - 2167.19 - - - - - - - - - 15.76 -
11723.87 876.97 9.31 1316 11728.35 done 1.25 - - 2447.94 - 3.27 0.065 2184.06 -394.0 77.86 - - 2166.22 - - - - - - - - - 15.80 -
12033.86 851.21 7.83 1348 12035.20 VBD 1.25 - - 2447.88 - - - 2184.00 - 77.86 - - 2165.12 - - - - - - - - - - -
12333.93 825.79 7.75 1378 12335.26 VBD 1.25 - - 2448.12 - - - 2183.62 - 77.86 - - 2164.59 - - - - - - - - - - -
12633.99 800.31 9.01 1408 12635.32 VBD 1.25 - - 2448.38 - - - 2183.38 - 77.86 - - 2163.97 - - - - - - - - - - -
12934.05 774.61 8.82 1438 12935.38 VBD 1.25 - - 2448.19 - - - 2184.06 - 77.86 - - 2163.97 - - - - - - - - - - -
13234.11 750.93 8.04 1468 13239.99 done 1.25 - - 2447.88 - 4.11 0.144 736.69 -352.2 77.86 - - 2162.41 - - - - - - - - - 15.80 -
13319.14 742.59 10.65 1485 13324.90 done 1.25 - - 2446.38 - 3.65 0.059 2218.38 405.9 77.86 - - 2162.09 - - - - - - - - - 15.87 -
13624.20 720.53 6.34 1516 13625.53 VBD 1.30 - - 2448.19 - - - 2218.62 - 77.86 - - 2162.19 - - - - - - - - - - -
13924.22 701.68 5.68 1546 13954.94 1.40 0.20 0.093 2488.62 202.1 - - 2218.38 - 111.62 29.02 1.902 2044.66 -4.0 0.260 - - - - - - 15.84 - 12.23
14254.25 672.04 9.29 1579 14259.85 roll 1.40 - - 2489.88 - 3.58 0.127 3471.88 350.1 111.62 - - 2036.78 - - - - - - - - - 15.68 -
14339.34 663.39 10.36 1596 14343.83 roll 1.40 - - 2490.12 - 3.29 0.061 2182.50 -391.9 111.62 - - 2038.72 - - - - - - - - - 15.73 -
14649.31 634.10 8.20 1628 14650.64 no move 1.40 - - 2489.50 - - - 2183.00 - 111.62 - - 2036.69 - - - - - - - - - - -
14949.34 605.23 10.30 1658 14954.96 roll 1.40 - - 2488.62 - 3.66 0.123 3472.69 352.4 111.62 - - 2037.91 - - - - - - - - - 15.77 -
15024.39 597.22 10.04 1673 15029.04 roll 1.40 - - 2488.62 - 3.24 0.058 2179.62 -399.1 111.62 - - 2039.00 - - - - - - - - - 15.79 -
15334.39 566.81 10.32 1705 15335.72 no move 1.40 - - 2490.88 - - - 2180.81 - 111.62 - - 2036.25 - - - - - - - - - - -
15634.42 538.51 9.08 1735 15640.04 done 1.40 - - 2489.38 - 3.60 0.120 3471.50 358.5 111.62 - - 2037.81 - - - - - - - - - 15.81 -
15689.45 532.69 11.20 1746 15693.98 roll 1.40 - - 2490.31 - 3.21 0.058 2179.31 -402.6 111.62 - - 2036.81 - - - - - - - - - 15.84 -
15999.48 503.90 9.06 1778 16000.81 VBD 1.40 - - 2490.56 - - - 2179.88 - 111.62 - - 2037.03 - - - - - - - - - - -
16299.50 478.95 8.39 1808 16300.83 VBD 1.40 - - 2490.38 - - - 2179.75 - 111.62 - - 2036.50 - - - - - - - - - - -
16599.53 455.62 7.71 1838 16600.86 VBD 1.40 - - 2487.31 - - - 2179.69 - 111.62 - - 2037.12 - - - - - - - - - - -
16899.58 432.99 7.64 1868 16900.91 VBD 1.40 - - 2489.88 - - - 2180.38 - 111.62 - - 2036.66 - - - - - - - - - - -
17199.62 410.29 7.51 1898 17200.96 VBD 1.42 - - 2490.81 - - - 2180.38 - 111.62 - - 2036.09 - - - - - - - - - - -
17499.65 387.72 7.45 1928 17505.39 done 1.44 - - 2489.94 - 3.65 0.120 3472.31 354.0 111.62 - - 2036.69 - - - - - - - - - 15.83 -
17578.58 380.75 9.09 1944 17585.49 done 1.44 - - 2489.69 - 3.28 0.056 2179.56 -394.1 111.62 - - 2035.78 - - - - - - - - - 15.82 -
17884.72 357.18 7.74 1975 17886.05 VBD 1.44 - - 2490.25 - - - 2179.38 - 111.62 - - 2035.19 - - - - - - - - - - -
18184.80 334.45 6.60 2005 18186.13 VBD 1.48 - - 2490.50 - - - 2180.12 - 111.62 - - 2035.84 - - - - - - - - - - -
18484.86 313.63 6.19 2035 18490.61 done 1.54 - - 2490.50 - 3.63 0.117 3472.62 356.1 111.62 - - 2035.03 - - - - - - - - - 15.83 -
18603.73 304.16 7.91 2059 18610.60 done 1.54 - - 2489.88 - 3.23 0.055 2178.88 -400.5 111.62 - - 2036.88 - - - - - - - - - 15.86 -
18909.98 284.69 6.53 2090 18911.47 1.58 0.21 0.093 2532.44 202.7 - - 2179.75 - 111.62 - - 2034.09 - - - - - - - - 15.85 - -
19210.03 264.19 6.70 2120 19215.64 done 1.62 - - 2532.00 - 3.63 0.114 3472.69 356.2 111.62 - - 2036.41 - - - - - - - - - 15.82 -
19285.05 258.34 7.87 2135 19289.59 done 1.62 - - 2532.88 - 3.26 0.053 2179.88 -396.6 111.62 - - 2036.75 - - - - - - - - - 15.85 -
19595.12 236.31 7.04 2167 19596.46 VBD 1.65 - - 2532.25 - - - 2180.31 - 111.62 - - 2033.97 - - - - - - - - - - -
19895.18 216.15 6.49 2197 19896.51 VBD 1.70 - - 2532.12 - - - 2180.38 - 111.62 - - 2036.00 - - - - - - - - - - -
20195.21 194.80 6.68 2227 20200.88 1.74 0.19 0.097 2569.81 198.4 3.66 0.115 3471.81 352.8 111.62 - - 2035.94 - - - - - - - - 15.82 15.81 -
20294.06 186.21 8.85 2247 20300.94 done 1.74 - - 2569.94 - 3.26 0.054 2177.81 -396.9 111.62 - - 2036.59 - - - - - - - - - 15.85 -
20600.27 163.33 6.90 2278 20605.89 done 1.78 - - 2570.56 - 3.64 0.113 3471.88 355.5 111.62 - - 2034.31 - - - - - - - - - 15.81 -
20669.21 158.13 7.29 2292 20676.00 done 1.80 - - 2571.31 - 3.26 0.053 2179.62 -396.4 111.62 - - 2035.53 - - - - - - - - - 15.78 -
20975.33 138.50 5.67 2323 21010.60 1.90 0.19 0.096 2607.44 190.2 3.67 0.113 3471.69 352.1 145.60 29.26 1.256 1905.97 -4.4 0.085 - - - - - - 15.81 15.61 12.22
21099.17 127.06 10.61 2348 21106.17 roll 1.90 - - 2607.88 - 3.28 0.052 2180.06 -393.8 145.60 - - 1903.47 - - - - - - - - - 15.68 -
21405.38 97.42 9.27 2382 21411.14 roll 1.90 - - 2607.44 - 3.65 0.110 3471.94 353.9 145.60 - - 1901.28 - - - - - - - - - 15.68 -
21570.43 83.50 7.12 2415 21576.12 roll 1.93 - - 2608.62 - 3.27 0.050 2176.44 -396.2 145.60 - - 1900.66 - - - - - - - - - 15.74 -
21755.47 73.92 4.86 2452 21802.25 2.07 0.21 0.096 2648.81 191.4 4.14 0.127 736.44 -347.8 191.12 39.08 1.177 1719.66 -4.6 0.051 - - - - - - 15.73 15.46 12.27
21960.49 54.85 11.98 2493 21966.26 roll 2.07 - - 2649.12 - 3.69 0.050 2223.31 402.9 191.12 - - 1715.16 - - - - - - - - - 15.61 -
22145.55 47.71 2.23 2530 22223.13 2.32 0.34 0.070 2708.81 175.6 4.30 0.120 735.50 -346.0 274.20 69.83 1.142 1381.34 -4.8 0.035 - - - - - - 15.66 15.24 12.28
22445.99 13.29 19.66 2590 22451.78 roll 2.32 - - 2708.00 - 3.72 0.049 2221.12 399.4 274.20 - - 1376.53 - - - - - - - - - 15.55 -
22531 end climb: SURFACE_DEPTH_REACHED
22531 begin surface coast
22550 end surface coast: CONTROL_FINISHED_OK
22550 begin surface
SM 0.40 - - - - 177.8 1.20 0.137 768.3 640.2 17.63 0.088 773.6 43.9 - 0.35 0.084 763.0 2169.4 -1.056 - - 15.11 15.54 15.63 -