NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 474 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 141.18 of 575.00 AH used of 24V (75.45% remains)
• Surface angle -57.2 deg, depth 1.02 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.87 (SM_CC=425)
• GPS1 time: 25 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
7.18 - - - 96.12 VBD -1.25 - - 174.06 - - - 2114.25 - -77.86 88.39 0.005 2673.31 - - - - - - - - - - 15.24
96.39 3.68 -5.04 17 123.14 -1.25 14.41 0.258 1835.25 115.3 4.22 0.151 662.50 -344.0 -77.86 3.42 0.011 2816.88 42.0 -2.418 - - - - - - 15.41 15.25 15.31
245.94 39.50 -22.50 47 251.75 roll -1.25 - - 1835.69 - 3.67 0.055 2117.31 396.4 -77.86 - - 2817.19 - - - - - - - - - 15.61 -
431.02 76.05 -16.98 84 436.81 roll -1.25 - - 1836.19 - 3.79 0.114 3473.06 357.7 -77.86 - - 2816.94 - - - - - - - - - 15.67 -
506.06 86.56 -13.32 99 511.79 roll -1.25 - - 1835.56 - 3.46 0.058 2082.31 -402.0 -77.86 - - 2817.72 - - - - - - - - - 15.69 -
691.11 106.79 -11.01 130 696.88 roll -1.25 - - 1835.62 - 4.02 0.150 663.19 -353.0 -77.86 - - 2817.03 - - - - - - - - - 15.68 -
770.05 117.69 -14.36 146 776.89 roll -1.25 - - 1835.00 - 3.55 0.050 2119.94 410.4 -77.86 - - 2818.81 - - - - - - - - - 15.76 -
1076.18 149.67 -10.77 177 1077.51 no move -1.25 - - 1836.12 - - - 2121.06 - -77.86 - - 2818.09 - - - - - - - - - - -
1376.22 182.76 -11.08 207 1377.54 no move -1.25 - - 1835.81 - - - 2121.06 - -77.86 - - 2818.16 - - - - - - - - - - -
1676.25 215.53 -10.66 237 1677.58 no move -1.25 - - 1836.00 - - - 2120.88 - -77.86 - - 2817.97 - - - - - - - - - - -
1976.28 247.22 -10.13 267 1977.61 no move -1.25 - - 1835.06 - - - 2121.00 - -77.86 - - 2817.22 - - - - - - - - - - -
2276.32 277.35 -9.38 297 2277.65 no move -1.25 - - 1835.38 - - - 2120.50 - -77.86 - - 2817.28 - - - - - - - - - - -
2576.36 306.34 -10.00 327 2582.14 roll -1.25 - - 1834.94 - 4.13 0.152 662.75 -353.0 -77.86 - - 2818.56 - - - - - - - - - 15.81 -
2621.38 311.47 -11.91 336 2626.98 roll -1.25 - - 1835.62 - 3.57 0.055 2119.94 408.2 -77.86 - - 2816.38 - - - - - - - - - 15.88 -
2926.40 343.33 -10.12 367 2927.72 no move -1.25 - - 1835.62 - - - 2119.69 - -77.86 - - 2817.22 - - - - - - - - - - -
3226.43 372.52 -10.15 397 3232.22 roll -1.25 - - 1835.56 - 4.14 0.155 662.19 -352.1 -77.86 - - 2817.41 - - - - - - - - - 15.81 -
3355.31 387.15 -12.02 423 3362.23 roll -1.25 - - 1835.56 - 3.55 0.056 2117.88 410.1 -77.86 - - 2818.22 - - - - - - - - - 15.89 -
3661.50 416.80 -9.25 454 3662.83 no move -1.25 - - 1835.75 - - - 2117.75 - -77.86 - - 2818.16 - - - - - - - - - - -
3961.54 446.42 -10.46 484 3962.87 no move -1.25 - - 1835.38 - - - 2117.75 - -77.86 - - 2817.53 - - - - - - - - - - -
4261.57 474.88 -9.12 514 4262.90 no move -1.25 - - 1835.75 - - - 2117.56 - -77.86 - - 2816.91 - - - - - - - - - - -
4561.60 501.61 -9.07 544 4562.93 no move -1.25 - - 1835.88 - - - 2118.00 - -77.86 - - 2816.97 - - - - - - - - - - -
4861.64 525.66 -7.31 574 4862.97 no move -1.25 - - 1835.75 - - - 2117.94 - -77.86 - - 2815.34 - - - - - - - - - - -
5161.68 550.55 -8.28 604 5163.01 no move -1.25 - - 1835.62 - - - 2117.75 - -77.86 - - 2816.78 - - - - - - - - - - -
5461.75 576.56 -8.69 634 5463.08 no move -1.25 - - 1835.81 - - - 2117.75 - -77.86 - - 2814.09 - - - - - - - - - - -
5761.82 602.02 -7.90 664 5763.15 no move -1.25 - - 1835.62 - - - 2118.12 - -77.86 - - 2814.38 - - - - - - - - - - -
6061.88 628.81 -8.74 694 6063.20 no move -1.25 - - 1836.19 - - - 2117.69 - -77.86 - - 2815.41 - - - - - - - - - - -
6361.94 656.26 -9.53 724 6367.73 roll -1.25 - - 1835.44 - 4.18 0.165 663.62 -347.9 -77.86 - - 2813.06 - - - - - - - - - 15.78 -
6427.04 662.71 -10.24 737 6432.65 roll -1.25 - - 1835.69 - 3.60 0.063 2114.88 403.1 -77.86 - - 2813.09 - - - - - - - - - 15.89 -
6732.03 688.63 -8.35 768 6733.36 no move -1.25 - - 1836.06 - - - 2115.06 - -77.86 - - 2814.72 - - - - - - - - - - -
7032.09 713.52 -8.81 798 7033.42 no move -1.25 - - 1835.75 - - - 2116.00 - -77.86 - - 2814.34 - - - - - - - - - - -
7332.15 736.93 -7.41 828 7338.11 roll -1.25 - - 1836.12 - 4.20 0.168 663.44 -345.8 -77.86 - - 2812.09 - - - - - - - - - 15.77 -
7421.10 745.93 -10.27 846 7428.02 roll -1.25 - - 1835.38 - 3.57 0.062 2115.88 406.8 -77.86 - - 2814.09 - - - - - - - - - 15.89 -
7727.22 771.23 -7.71 877 7728.55 no move -1.25 - - 1835.12 - - - 2115.75 - -77.86 - - 2812.62 - - - - - - - - - - -
8027.26 797.01 -7.80 907 8028.58 no move -1.25 - - 1835.12 - - - 2115.50 - -77.86 - - 2812.47 - - - - - - - - - - -
8327.29 824.02 -9.33 937 8333.07 roll -1.25 - - 1835.94 - 4.20 0.169 664.12 -345.6 -77.86 - - 2812.19 - - - - - - - - - 15.76 -
8406.22 832.83 -11.52 953 8413.07 roll -1.25 - - 1835.75 - 3.58 0.065 2115.12 405.3 -77.86 - - 2812.97 - - - - - - - - - 15.88 -
8712.34 859.75 -9.03 984 8713.67 no move -1.25 - - 1835.00 - - - 2115.00 - -77.86 - - 2811.62 - - - - - - - - - - -
9012.37 886.11 -8.38 1014 9013.70 no move -1.25 - - 1835.38 - - - 2114.69 - -77.86 - - 2812.97 - - - - - - - - - - -
9312.41 910.56 -7.85 1044 9313.74 no move -1.25 - - 1835.75 - - - 2114.38 - -77.86 - - 2810.25 - - - - - - - - - - -
9612.45 934.22 -7.02 1074 9613.77 no move -1.25 - - 1835.62 - - - 2114.25 - -77.86 - - 2811.09 - - - - - - - - - - -
9912.56 958.32 -8.28 1104 9913.89 no move -1.25 - - 1835.56 - - - 2114.50 - -77.86 - - 2810.34 - - - - - - - - - - -
10212.52 981.33 -7.69 1134 10213.84 no move -1.25 - - 1835.75 - - - 2114.44 - -77.86 - - 2811.88 - - - - - - - - - - -
10332 end dive: TARGET_DEPTH_EXCEEDED
10332 begin apogee
10333.79 990.30 -7.08 1146 10405.55 -0.25 1.81 0.149 2079.62 134.7 0.07 0.301 2186.75 1033.0 - 67.94 2.264 2498.03 -4.6 0.348 - - - - - - 15.78 15.09 11.99
10407 end apogee: CONTROL_FINISHED_OK
10407 begin climb
10407.54 992.61 - 1153 10486.69 1.25 2.65 0.089 2446.94 138.6 - - 2187.44 - 77.86 74.86 2.216 2180.78 -4.2 0.327 - - - - - - 15.17 - 12.25
10782.56 964.77 8.24 1191 10788.20 done 1.25 - - 2446.44 - 3.71 0.131 3473.44 346.6 77.86 - - 2172.47 - - - - - - - - - 15.49 -
10887.58 955.45 9.88 1212 10892.27 done 1.25 - - 2447.19 - 3.26 0.064 2183.38 -395.7 77.86 - - 2170.72 - - - - - - - - - 15.56 -
11197.61 929.99 7.67 1244 11203.37 done 1.25 - - 2447.88 - 3.68 0.126 3473.56 350.6 77.86 - - 2168.06 - - - - - - - - - 15.65 -
11276.67 922.84 8.86 1260 11283.33 done 1.25 - - 2447.62 - 3.23 0.061 2182.19 -399.8 77.86 - - 2168.16 - - - - - - - - - 15.71 -
11582.67 898.90 7.10 1291 11584.00 VBD 1.28 - - 2447.00 - - - 2182.00 - 77.86 - - 2165.75 - - - - - - - - - - -
11882.72 874.23 8.16 1321 11888.34 done 1.28 - - 2447.19 - 3.68 0.126 3473.44 350.9 77.86 - - 2167.62 - - - - - - - - - 15.70 -
12037.77 860.19 9.93 1352 12042.45 done 1.28 - - 2447.31 - 3.20 0.062 2181.94 -403.6 77.86 - - 2167.47 - - - - - - - - - 15.78 -
12347.85 835.49 7.81 1384 12353.67 done 1.28 - - 2447.50 - 4.07 0.145 737.50 -354.9 77.86 - - 2162.28 - - - - - - - - - 15.74 -
12456.79 825.76 8.08 1406 12463.67 done 1.28 - - 2447.56 - 3.65 0.055 2217.12 405.4 77.86 - - 2162.34 - - - - - - - - - 15.82 -
12762.96 801.04 9.05 1437 12764.29 VBD 1.28 - - 2447.94 - - - 2217.06 - 77.86 - - 2161.34 - - - - - - - - - - -
13063.01 777.87 7.64 1467 13067.74 done 1.28 - - 2447.69 - 3.53 0.125 3473.19 355.8 77.86 - - 2163.56 - - - - - - - - - 15.79 -
13177.07 768.60 8.13 1490 13183.88 done 1.28 - - 2447.38 - 3.20 0.061 2181.38 -403.7 77.86 - - 2163.84 - - - - - - - - - 15.82 -
13483.12 746.96 6.72 1521 13484.46 VBD 1.32 - - 2447.75 - - - 2180.88 - 77.86 - - 2160.69 - - - - - - - - - - -
13783.18 727.39 6.18 1551 13788.85 1.38 0.17 0.106 2482.56 204.8 3.65 0.125 3474.81 354.5 77.86 - - 2161.38 - - - - - - - - 15.83 15.79 -
13918.21 715.84 7.97 1578 13922.88 done 1.38 - - 2481.38 - 3.18 0.059 2180.56 -407.0 77.86 - - 2164.41 - - - - - - - - - 15.84 -
14228.25 693.11 8.01 1610 14229.58 VBD 1.38 - - 2482.81 - - - 2180.44 - 77.86 - - 2161.62 - - - - - - - - - - -
14528.29 671.97 7.49 1640 14529.62 VBD 1.39 - - 2481.56 - - - 2179.81 - 77.86 - - 2161.66 - - - - - - - - - - -
14828.32 649.71 7.89 1670 14829.65 VBD 1.39 - - 2481.62 - - - 2179.81 - 77.86 - - 2161.09 - - - - - - - - - - -
15128.37 627.79 7.39 1700 15133.98 done 1.41 - - 2483.06 - 3.65 0.123 3473.62 354.5 77.86 - - 2160.06 - - - - - - - - - 15.81 -
15237.21 618.34 8.62 1722 15244.10 done 1.41 - - 2483.44 - 3.20 0.059 2181.25 -403.9 77.86 - - 2161.97 - - - - - - - - - 15.85 -
15543.42 596.51 7.06 1753 15544.75 VBD 1.44 - - 2482.38 - - - 2180.44 - 77.86 - - 2160.72 - - - - - - - - - - -
15843.47 576.64 6.41 1783 15844.80 VBD 1.49 - - 2481.69 - - - 2181.50 - 77.86 - - 2161.28 - - - - - - - - - - -
16143.50 558.22 5.55 1813 16179.83 1.60 0.29 0.084 2535.00 183.8 3.71 0.124 3471.50 347.7 113.47 30.16 1.743 2038.44 -4.1 0.225 - - - - - - 15.84 15.56 12.13
16292.37 543.98 12.64 1843 16299.22 roll 1.60 - - 2536.75 - 3.26 0.059 2181.69 -395.6 113.47 - - 2034.31 - - - - - - - - - 15.65 -
16598.55 514.10 9.95 1874 16599.88 no move 1.60 - - 2537.50 - - - 2181.00 - 113.47 - - 2030.28 - - - - - - - - - - -
16898.58 486.26 9.06 1904 16904.21 roll 1.60 - - 2537.06 - 3.61 0.119 3473.38 358.0 113.47 - - 2028.44 - - - - - - - - - 15.72 -
16977.51 477.56 11.07 1920 16984.29 roll 1.60 - - 2536.12 - 3.19 0.056 2181.44 -405.0 113.47 - - 2031.62 - - - - - - - - - 15.76 -
17283.65 449.91 9.55 1951 17284.98 no move 1.60 - - 2535.94 - - - 2181.38 - 113.47 - - 2028.59 - - - - - - - - - - -
17583.67 423.25 8.62 1981 17585.01 VBD 1.60 - - 2536.56 - - - 2181.69 - 113.47 - - 2028.56 - - - - - - - - - - -
17883.74 394.93 9.13 2011 17885.07 VBD 1.60 - - 2536.31 - - - 2181.25 - 113.47 - - 2028.94 - - - - - - - - - - -
18183.81 365.68 9.34 2041 18189.43 done 1.60 - - 2537.56 - 3.61 0.118 3472.44 357.7 113.47 - - 2028.84 - - - - - - - - - 15.75 -
18308.85 352.60 10.08 2066 18313.41 done 1.60 - - 2537.00 - 3.20 0.057 2181.50 -403.4 113.47 - - 2029.75 - - - - - - - - - 15.83 -
18618.92 325.73 8.61 2098 18623.65 done 1.60 - - 2537.69 - 3.54 0.115 3472.94 364.8 113.47 - - 2029.56 - - - - - - - - - 15.77 -
18709.03 317.22 9.57 2116 18713.51 done 1.60 - - 2537.12 - 3.20 0.056 2180.19 -404.0 113.47 - - 2029.22 - - - - - - - - - 15.76 -
19019.04 292.67 7.22 2148 19020.38 VBD 1.62 - - 2537.88 - - - 2180.25 - 113.47 - - 2027.59 - - - - - - - - - - -
19319.10 270.06 7.08 2178 19324.83 done 1.65 - - 2537.31 - 3.60 0.115 3473.31 359.2 113.47 - - 2029.00 - - - - - - - - - 15.79 -
19417.96 261.63 8.48 2198 19424.95 done 1.65 - - 2537.19 - 3.19 0.054 2180.38 -405.3 113.47 - - 2029.56 - - - - - - - - - 15.83 -
19724.19 239.39 6.76 2229 19725.52 VBD 1.69 - - 2537.69 - - - 2180.69 - 113.47 - - 2027.81 - - - - - - - - - - -
20024.22 218.05 6.56 2259 20029.83 done 1.74 - - 2536.00 - 3.62 0.113 3473.00 357.0 113.47 - - 2029.75 - - - - - - - - - 15.74 -
20139.26 209.54 7.50 2282 20143.84 1.75 0.17 0.098 2572.81 216.5 3.20 0.054 2178.75 -404.5 113.47 - - 2028.56 - - - - - - - - 15.72 15.83 -
20449.29 186.09 7.78 2314 20454.89 done 1.75 - - 2574.25 - 3.60 0.113 3474.56 359.9 113.47 - - 2027.81 - - - - - - - - - 15.76 -
20548.21 177.35 8.72 2334 20554.99 done 1.75 - - 2573.94 - 3.19 0.053 2179.44 -406.0 113.47 - - 2030.06 - - - - - - - - - 15.83 -
20854.36 155.22 7.04 2365 20859.94 done 1.78 - - 2573.06 - 3.55 0.110 3471.81 364.0 113.47 - - 2030.03 - - - - - - - - - 15.77 -
21039.38 141.84 8.03 2402 21044.05 done 1.78 - - 2573.62 - 3.18 0.052 2177.19 -407.1 113.47 - - 2030.22 - - - - - - - - - 15.83 -
21349.42 125.30 5.88 2434 21379.55 VBD 1.88 - - 2573.50 - - - 2177.69 - 144.47 27.00 1.228 1909.66 -4.5 0.078 - - - - - - - - 12.07
21679.46 103.29 6.37 2467 21685.34 roll back 1.93 0.21 0.090 2613.69 191.4 4.04 0.129 736.62 -356.7 144.47 - - 1906.06 - - - - - - - - 15.68 15.65 -
21739.45 98.00 9.11 2479 21745.23 roll 1.93 - - 2612.94 - 3.68 0.049 2224.00 404.2 144.47 - - 1906.88 - - - - - - - - - 15.71 -
21924.52 85.28 6.63 2516 21930.24 roll 1.97 - - 2614.69 - 3.49 0.110 3474.00 358.2 144.47 - - 1904.78 - - - - - - - - - 15.67 -
22109.56 78.35 2.71 2553 22181.36 2.20 0.38 0.073 2682.94 179.6 3.18 0.050 2175.12 -408.5 220.69 63.71 1.187 1599.16 -4.8 0.055 - - - - - - 15.66 15.74 12.24
22359.59 64.29 4.35 2603 22405.76 2.36 0.19 0.097 2718.56 187.5 - - 2174.94 - 273.52 44.42 1.132 1385.47 -4.8 0.047 - - - - - - 15.52 - 12.24
22584.62 39.77 14.46 2648 22590.39 roll 2.36 - - 2718.00 - 3.70 0.109 3471.75 350.5 273.52 - - 1379.06 - - - - - - - - - 15.49 -
22629.65 32.45 16.79 2657 22635.33 roll 2.36 - - 2718.38 - 3.22 0.052 2180.50 -401.0 273.52 - - 1377.66 - - - - - - - - - 15.55 -
22814.68 5.63 13.56 2694 22820.51 roll 2.36 - - 2717.25 - 4.01 0.126 736.56 -360.1 273.52 - - 1378.06 - - - - - - - - - 15.57 -
22839 end climb: SURFACE_DEPTH_REACHED
22839 begin surface coast
22849 end surface coast: CONTROL_FINISHED_OK
22849 begin surface
SM 0.24 - - - - 173.1 - 0.010 768.0 - 17.30 0.066 766.1 44.3 - 3.36 0.042 769.8 227.9 -0.133 - - 30.36 15.60 15.66 -