NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 449 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 133.32 of 575.00 AH used of 24V (76.81% remains)
• Surface angle -65.8 deg, depth 1.08 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.67 (SM_CC=425)
• GPS1 time: 31 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
7.00 - - - 85.71 VBD -1.25 - - 171.81 - - - 2120.12 - -77.86 78.14 0.005 2468.53 - - - - - - - - - - 15.29
85.98 3.02 -3.35 15 113.11 -1.25 14.35 0.258 1835.44 115.9 - - 2120.56 - -77.86 8.93 0.007 2813.59 38.6 -2.894 - - - - - - 15.45 - 15.36
290.93 44.90 -20.87 56 292.25 no move -1.25 - - 1835.62 - - - 2119.94 - -77.86 - - 2816.19 - - - - - - - - - - -
470.99 75.73 -15.58 92 472.31 no move -1.25 - - 1835.94 - - - 2119.56 - -77.86 - - 2816.44 - - - - - - - - - - -
651.05 98.97 -11.87 128 652.38 no move -1.25 - - 1835.75 - - - 2119.81 - -77.86 - - 2816.19 - - - - - - - - - - -
831.09 121.51 -11.27 147 836.86 roll -1.25 - - 1835.31 - 4.16 0.148 662.50 -350.3 -77.86 - - 2818.50 - - - - - - - - - 15.76 -
880.02 127.98 -13.27 157 886.86 roll -1.25 - - 1834.75 - 3.58 0.054 2117.25 406.4 -77.86 - - 2816.84 - - - - - - - - - 15.80 -
1186.12 163.00 -11.14 188 1191.90 roll -1.25 - - 1835.50 - 4.12 0.147 662.69 -353.0 -77.86 - - 2816.78 - - - - - - - - - 15.80 -
1225.07 167.99 -13.28 196 1231.89 roll -1.25 - - 1835.31 - 3.56 0.051 2119.44 409.2 -77.86 - - 2816.97 - - - - - - - - - 15.84 -
1531.17 200.09 -9.63 227 1536.87 roll -1.25 - - 1835.75 - 3.69 0.115 3473.12 366.9 -77.86 - - 2815.22 - - - - - - - - - 15.85 -
1596.19 207.93 -12.02 240 1600.84 roll -1.25 - - 1835.69 - 3.44 0.058 2081.12 -404.7 -77.86 - - 2817.62 - - - - - - - - - 15.87 -
1906.21 239.90 -9.58 272 1907.54 no move -1.25 - - 1835.50 - - - 2081.62 - -77.86 - - 2816.69 - - - - - - - - - - -
2206.26 272.18 -10.99 302 2207.59 no move -1.25 - - 1835.81 - - - 2081.56 - -77.86 - - 2816.47 - - - - - - - - - - -
2506.28 303.74 -10.60 332 2507.60 no move -1.25 - - 1836.12 - - - 2081.62 - -77.86 - - 2816.97 - - - - - - - - - - -
2806.30 333.78 -9.77 362 2812.08 roll -1.25 - - 1835.88 - 4.05 0.154 663.38 -350.2 -77.86 - - 2814.78 - - - - - - - - - 15.86 -
2895.24 343.62 -10.99 380 2902.09 roll -1.25 - - 1835.69 - 3.59 0.056 2117.31 405.0 -77.86 - - 2817.91 - - - - - - - - - 15.92 -
3201.36 373.32 -9.16 411 3202.69 no move -1.25 - - 1835.81 - - - 2117.00 - -77.86 - - 2816.97 - - - - - - - - - - -
3501.39 401.82 -9.56 441 3507.17 roll -1.25 - - 1835.62 - 4.14 0.152 663.75 -351.0 -77.86 - - 2816.66 - - - - - - - - - 15.87 -
3570.40 410.16 -12.81 455 3577.17 roll -1.25 - - 1834.69 - 3.53 0.055 2116.94 411.7 -77.86 - - 2817.12 - - - - - - - - - 15.92 -
3876.44 439.73 -9.31 486 3877.77 no move -1.25 - - 1835.62 - - - 2117.75 - -77.86 - - 2816.16 - - - - - - - - - - -
4176.47 469.51 -9.97 516 4182.26 roll -1.25 - - 1836.19 - 4.12 0.155 662.75 -353.2 -77.86 - - 2816.28 - - - - - - - - - 15.87 -
4295.44 483.68 -12.60 540 4302.27 roll -1.25 - - 1835.81 - 3.58 0.056 2118.44 406.6 -77.86 - - 2815.50 - - - - - - - - - 15.93 -
4601.55 515.56 -9.94 571 4607.33 roll -1.25 - - 1835.44 - 4.17 0.155 662.69 -349.1 -77.86 - - 2815.66 - - - - - - - - - 15.86 -
4680.49 525.54 -13.31 587 4687.34 roll -1.25 - - 1835.88 - 3.55 0.054 2118.12 410.0 -77.86 - - 2815.66 - - - - - - - - - 15.92 -
4986.64 556.04 -9.79 618 4987.97 no move -1.25 - - 1835.88 - - - 2118.81 - -77.86 - - 2815.38 - - - - - - - - - - -
5286.69 584.30 -9.35 648 5288.02 no move -1.25 - - 1835.75 - - - 2119.00 - -77.86 - - 2814.88 - - - - - - - - - - -
5586.76 612.99 -8.64 678 5588.09 no move -1.25 - - 1835.69 - - - 2118.44 - -77.86 - - 2815.16 - - - - - - - - - - -
5886.82 640.84 -9.22 708 5888.15 no move -1.25 - - 1835.69 - - - 2118.94 - -77.86 - - 2813.34 - - - - - - - - - - -
6186.88 668.06 -9.01 738 6188.21 no move -1.25 - - 1835.94 - - - 2118.31 - -77.86 - - 2813.97 - - - - - - - - - - -
6486.94 693.94 -8.67 768 6488.27 no move -1.25 - - 1836.19 - - - 2118.69 - -77.86 - - 2812.84 - - - - - - - - - - -
6787.00 719.55 -7.71 798 6792.80 roll -1.25 - - 1835.81 - 4.22 0.165 664.25 -344.7 -77.86 - - 2815.06 - - - - - - - - - 15.85 -
6882.04 728.92 -9.88 817 6887.73 roll -1.25 - - 1835.69 - 3.60 0.062 2115.19 403.0 -77.86 - - 2812.72 - - - - - - - - - 15.93 -
7187.09 753.90 -7.62 848 7188.41 no move -1.25 - - 1835.44 - - - 2115.06 - -77.86 - - 2812.88 - - - - - - - - - - -
7487.11 778.42 -8.16 878 7492.83 roll -1.25 - - 1835.81 - 3.78 0.126 3475.25 359.8 -77.86 - - 2812.34 - - - - - - - - - 15.90 -
7522.13 781.30 -9.23 885 7526.77 roll -1.25 - - 1835.69 - 3.44 0.068 2085.44 -404.0 -77.86 - - 2812.16 - - - - - - - - - 15.93 -
7832.15 807.59 -8.98 917 7837.92 roll -1.25 - - 1835.69 - 4.09 0.170 663.81 -347.6 -77.86 - - 2811.84 - - - - - - - - - 15.83 -
7881.10 812.14 -10.03 927 7887.94 roll -1.25 - - 1835.50 - 3.59 0.062 2115.12 404.3 -77.86 - - 2811.25 - - - - - - - - - 15.92 -
8187.20 838.01 -9.60 958 8188.53 no move -1.25 - - 1836.06 - - - 2115.62 - -77.86 - - 2811.78 - - - - - - - - - - -
8487.23 860.42 -7.00 988 8488.56 no move -1.25 - - 1836.19 - - - 2116.56 - -77.86 - - 2811.34 - - - - - - - - - - -
8787.26 885.11 -6.75 1018 8788.59 no move -1.25 - - 1836.06 - - - 2116.12 - -77.86 - - 2810.88 - - - - - - - - - - -
9087.30 908.45 -7.83 1048 9088.63 no move -1.25 - - 1835.94 - - - 2116.44 - -77.86 - - 2810.94 - - - - - - - - - - -
9387.33 930.84 -6.97 1078 9393.14 roll -1.25 - - 1835.75 - 4.22 0.172 663.69 -344.3 -77.86 - - 2809.59 - - - - - - - - - 15.81 -
9496.27 941.28 -11.69 1100 9503.13 roll -1.25 - - 1834.94 - 3.61 0.066 2113.38 401.6 -77.86 - - 2811.12 - - - - - - - - - 15.92 -
9802.39 963.03 -6.73 1131 9803.72 no move -1.25 - - 1835.69 - - - 2113.44 - -77.86 - - 2808.72 - - - - - - - - - - -
10102.43 984.12 -7.15 1161 10103.76 no move -1.25 - - 1836.00 - - - 2113.69 - -77.86 - - 2809.66 - - - - - - - - - - -
10192 end dive: TARGET_DEPTH_EXCEEDED
10192 begin apogee
10193.68 990.33 -6.93 1170 10264.28 -0.25 1.79 0.149 2079.12 135.8 0.07 0.306 2186.75 1043.7 - 67.43 2.272 2500.03 -4.6 0.347 - - - - - - 15.82 15.11 12.06
10266 end apogee: CONTROL_FINISHED_OK
10266 begin climb
10266.22 991.65 - 1177 10344.65 1.25 2.63 0.090 2448.94 140.6 - - 2187.31 - 77.86 74.62 2.215 2181.81 -4.3 0.331 - - - - - - 15.18 - 12.36
10642.73 959.70 9.93 1215 10648.09 done 1.25 - - 2448.25 - 3.68 0.130 3473.69 349.6 77.86 - - 2169.34 - - - - - - - - - 15.53 -
10751.33 948.35 10.72 1237 10758.21 done 1.25 - - 2448.06 - 3.24 0.064 2184.62 -397.9 77.86 - - 2169.97 - - - - - - - - - 15.60 -
11057.54 920.17 9.23 1268 11058.87 VBD 1.25 - - 2448.38 - - - 2184.44 - 77.86 - - 2165.94 - - - - - - - - - - -
11357.60 893.55 9.62 1298 11363.24 done 1.25 - - 2447.94 - 3.65 0.128 3473.31 353.1 77.86 - - 2165.53 - - - - - - - - - 15.75 -
11422.64 887.28 9.64 1311 11427.17 done 1.25 - - 2448.12 - 3.23 0.063 2181.19 -400.0 77.86 - - 2169.25 - - - - - - - - - 15.78 -
11732.70 861.32 7.54 1343 11734.03 VBD 1.27 - - 2448.38 - - - 2181.50 - 77.86 - - 2165.91 - - - - - - - - - - -
12032.74 837.32 7.71 1373 12038.37 done 1.27 - - 2447.81 - 3.64 0.127 3472.75 354.7 77.86 - - 2167.31 - - - - - - - - - 15.82 -
12157.79 825.21 9.32 1398 12162.37 done 1.27 - - 2448.25 - 3.21 0.062 2182.75 -401.9 77.86 - - 2165.59 - - - - - - - - - 15.83 -
12467.86 800.44 8.33 1430 12469.19 VBD 1.27 - - 2448.25 - - - 2183.31 - 77.86 - - 2164.56 - - - - - - - - - - -
12767.91 775.94 8.46 1460 12773.75 done 1.27 - - 2448.25 - 4.07 0.143 735.69 -355.7 77.86 - - 2163.66 - - - - - - - - - 15.82 -
12812.95 772.01 8.94 1469 12818.55 done 1.27 - - 2445.94 - 3.63 0.056 2218.69 408.5 77.86 - - 2161.97 - - - - - - - - - 15.87 -
13118.00 747.29 8.38 1500 13123.62 done 1.27 - - 2448.44 - 3.51 0.128 3473.19 357.4 77.86 - - 2160.22 - - - - - - - - - 15.84 -
13207.01 739.39 8.38 1518 13213.71 done 1.27 - - 2447.50 - 3.19 0.061 2184.81 -403.9 77.86 - - 2162.47 - - - - - - - - - 15.87 -
13513.06 713.04 8.96 1549 13518.68 done 1.27 - - 2447.75 - 3.62 0.126 3472.19 355.6 77.86 - - 2164.44 - - - - - - - - - 15.83 -
13592.13 706.53 8.10 1565 13598.78 done 1.27 - - 2448.62 - 3.17 0.059 2181.88 -407.0 77.86 - - 2163.44 - - - - - - - - - 15.89 -
13898.13 681.92 7.23 1596 13899.46 VBD 1.29 - - 2447.81 - - - 2181.62 - 77.86 - - 2162.28 - - - - - - - - - - -
14198.15 658.82 7.66 1626 14203.79 done 1.29 - - 2448.12 - 3.64 0.125 3473.44 354.9 77.86 - - 2160.88 - - - - - - - - - 15.86 -
14273.18 652.51 8.12 1641 14277.71 done 1.29 - - 2448.12 - 3.19 0.060 2181.56 -405.0 77.86 - - 2162.47 - - - - - - - - - 15.89 -
14583.22 630.75 7.25 1673 14584.55 VBD 1.32 - - 2448.12 - - - 2182.31 - 77.86 - - 2162.31 - - - - - - - - - - -
14883.25 612.20 6.47 1703 14884.59 VBD 1.36 - - 2448.12 - - - 2181.94 - 77.86 - - 2162.00 - - - - - - - - - - -
15183.29 595.04 5.64 1733 15218.59 1.47 0.31 0.092 2505.19 184.1 3.69 0.125 3472.56 349.8 112.32 29.14 1.789 2041.50 -4.1 0.239 - - - - - - 15.87 15.57 12.26
15307.15 583.46 9.97 1758 15314.01 roll 1.47 - - 2504.75 - 3.24 0.060 2183.06 -398.0 112.32 - - 2038.16 - - - - - - - - - 15.66 -
15613.33 553.38 10.06 1789 15618.98 roll 1.47 - - 2504.62 - 3.63 0.123 3472.31 355.2 112.32 - - 2034.59 - - - - - - - - - 15.71 -
15748.36 538.86 10.45 1816 15752.92 roll 1.47 - - 2505.38 - 3.22 0.059 2181.38 -400.9 112.32 - - 2036.12 - - - - - - - - - 15.77 -
16058.40 508.46 9.32 1848 16059.73 no move 1.47 - - 2505.31 - - - 2181.44 - 112.32 - - 2033.88 - - - - - - - - - - -
16358.43 479.84 10.19 1878 16359.76 no move 1.47 - - 2505.31 - - - 2181.62 - 112.32 - - 2033.97 - - - - - - - - - - -
16658.46 451.90 9.44 1908 16659.79 no move 1.47 - - 2505.12 - - - 2181.06 - 112.32 - - 2034.81 - - - - - - - - - - -
16958.50 424.27 8.31 1938 16959.83 no move 1.47 - - 2505.38 - - - 2181.50 - 112.32 - - 2034.94 - - - - - - - - - - -
17258.54 397.01 9.25 1968 17259.87 no move 1.47 - - 2504.94 - - - 2181.94 - 112.32 - - 2034.31 - - - - - - - - - - -
17558.60 370.25 9.47 1998 17559.93 VBD 1.47 - - 2503.81 - - - 2181.50 - 112.32 - - 2033.62 - - - - - - - - - - -
17858.67 343.02 8.92 2028 17864.49 done 1.47 - - 2505.00 - 4.05 0.138 736.81 -356.7 112.32 - - 2032.22 - - - - - - - - - 15.80 -
17943.70 333.65 11.50 2045 17949.33 done 1.47 - - 2504.88 - 3.64 0.056 2222.50 408.2 112.32 - - 2030.44 - - - - - - - - - 15.88 -
18248.77 307.85 8.38 2076 18250.10 VBD 1.47 - - 2505.56 - - - 2222.50 - 112.32 - - 2032.47 - - - - - - - - - - -
18548.82 283.75 8.12 2106 18554.41 done 1.47 - - 2505.12 - 3.49 0.120 3473.06 358.3 112.32 - - 2030.72 - - - - - - - - - 15.81 -
18763.92 265.08 8.53 2149 18768.44 done 1.47 - - 2504.62 - 3.20 0.056 2177.44 -404.9 112.32 - - 2033.94 - - - - - - - - - 15.87 -
19074.00 243.57 6.78 2181 19075.33 VBD 1.51 - - 2505.12 - - - 2177.94 - 112.32 - - 2032.81 - - - - - - - - - - -
19374.04 225.44 5.52 2211 19406.96 1.61 0.16 0.110 2539.25 213.3 - - 2178.00 - 148.39 31.50 1.382 1892.69 -4.4 0.126 - - - - - - 15.85 - 12.30
19704.07 196.02 9.66 2244 19705.40 no move 1.61 - - 2539.44 - - - 2178.06 - 148.39 - - 1888.56 - - - - - - - - - - -
20004.10 166.46 10.04 2274 20005.42 no move 1.61 - - 2539.44 - - - 2178.44 - 148.39 - - 1887.28 - - - - - - - - - - -
20304.13 137.65 9.99 2304 20309.76 roll 1.61 - - 2538.69 - 3.63 0.118 3473.38 356.7 148.39 - - 1887.09 - - - - - - - - - 15.78 -
20533.08 111.44 11.30 2350 20540.04 done 1.61 - - 2539.38 - 3.22 0.056 2178.94 -402.0 148.39 - - 1886.47 - - - - - - - - - 15.80 -
20839.34 88.33 6.35 2398 20845.01 done 1.66 - - 2538.06 - 3.57 0.110 3473.31 362.6 148.39 - - 1887.03 - - - - - - - - - 15.81 -
20909.30 84.46 5.40 2412 20946.71 1.78 0.19 0.093 2579.25 216.8 3.19 0.052 2175.38 -406.9 186.14 32.23 1.204 1739.75 -4.6 0.056 - - - - - - 15.74 15.80 12.36
21124.57 70.46 6.28 2455 21130.33 roll 1.83 - - 2580.19 - 4.07 0.130 735.44 -353.8 186.14 - - 1735.69 - - - - - - - - - 15.61 -
21354.62 58.32 4.47 2501 21406.36 1.98 0.26 0.077 2630.50 193.5 3.67 0.050 2226.06 406.2 237.28 43.54 1.167 1531.81 -4.7 0.041 - - - - - - 15.63 15.73 12.37
21584.65 48.99 4.18 2547 21636.43 2.15 0.19 0.089 2670.25 209.2 3.58 0.113 3473.44 348.4 292.49 46.55 1.130 1305.88 -4.9 0.037 - - - - - - 15.58 15.27 12.30
21854.74 17.30 14.47 2601 21860.57 roll 2.15 - - 2670.06 - 3.28 0.053 2180.38 -394.2 292.49 - - 1300.94 - - - - - - - - - 15.56 -
21964 end climb: SURFACE_DEPTH_REACHED
21965 begin surface coast
21974 end surface coast: CONTROL_FINISHED_OK
21974 begin surface
SM 0.43 - - - - 175.2 - 2.683 768.8 - 16.73 0.060 766.4 45.8 - 0.23 0.112 771.2 3338.8 -1.310 - - 30.36 15.60 15.63 -