NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 306 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 93.87 of 575.00 AH used of 24V (83.67% remains)
• Surface angle -61.5 deg, depth 0.68 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.83 (SM_CC=425)
• GPS1 time: 21 s
• GPS2 time: 3 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
6.75 - - - 85.25 VBD -1.25 - - 173.88 - - - 2079.50 - -77.86 77.92 0.005 2470.94 - - - - - - - - - - 15.57
85.52 3.01 -3.76 15 117.32 -1.25 13.87 0.258 1837.25 119.9 4.09 0.161 663.94 -346.1 -77.86 8.95 0.007 2816.84 38.6 -2.804 - - - - - - 15.62 15.56 15.61
235.08 35.97 -21.13 45 240.86 roll -1.25 - - 1837.19 - 3.63 0.058 2118.06 400.6 -77.86 - - 2815.94 - - - - - - - - - 15.77 -
420.14 68.67 -17.16 82 425.90 roll -1.25 - - 1836.88 - 3.70 0.116 3473.06 366.2 -77.86 - - 2818.19 - - - - - - - - - 15.80 -
455.15 74.48 -16.45 89 460.86 roll -1.25 - - 1837.00 - 3.40 0.060 2082.31 -409.0 -77.86 - - 2816.16 - - - - - - - - - 15.83 -
640.19 99.00 -12.22 126 646.03 roll -1.25 - - 1836.75 - 4.01 0.155 662.75 -354.0 -77.86 - - 2818.44 - - - - - - - - - 15.84 -
740.21 112.63 -13.31 146 744.90 roll -1.25 - - 1837.06 - 3.57 0.056 2116.06 407.1 -77.86 - - 2817.28 - - - - - - - - - 15.88 -
1050.25 147.79 -10.81 178 1055.94 roll -1.25 - - 1836.00 - 3.66 0.115 3474.12 371.1 -77.86 - - 2817.31 - - - - - - - - - 15.92 -
1265.31 175.44 -12.74 221 1269.94 roll -1.25 - - 1836.94 - 3.39 0.060 2081.75 -410.7 -77.86 - - 2817.12 - - - - - - - - - 15.94 -
1575.33 210.24 -11.21 253 1576.66 no move -1.25 - - 1836.69 - - - 2082.00 - -77.86 - - 2817.44 - - - - - - - - - - -
1875.37 242.39 -10.75 283 1881.09 roll -1.25 - - 1836.94 - 3.78 0.118 3475.00 368.5 -77.86 - - 2815.56 - - - - - - - - - 16.00 -
1994.31 256.78 -12.03 307 2001.13 roll -1.25 - - 1837.50 - 3.42 0.064 2083.50 -406.9 -77.86 - - 2817.78 - - - - - - - - - 16.00 -
2300.43 288.09 -9.86 338 2306.17 roll -1.25 - - 1837.19 - 4.00 0.158 662.56 -355.2 -77.86 - - 2815.41 - - - - - - - - - 15.99 -
2369.61 296.18 -12.17 352 2376.20 roll -1.25 - - 1836.88 - 3.51 0.057 2119.94 415.2 -77.86 - - 2817.56 - - - - - - - - - 16.02 -
2675.47 328.42 -10.68 383 2676.80 no move -1.25 - - 1836.88 - - - 2120.00 - -77.86 - - 2817.38 - - - - - - - - - - -
2975.50 357.09 -9.88 413 2976.83 no move -1.25 - - 1836.94 - - - 2119.94 - -77.86 - - 2816.88 - - - - - - - - - - -
3275.53 386.66 -10.42 443 3281.30 roll -1.25 - - 1836.69 - 4.10 0.160 663.69 -355.2 -77.86 - - 2818.78 - - - - - - - - - 16.01 -
3360.56 396.57 -11.88 460 3365.23 roll -1.25 - - 1837.38 - 3.51 0.060 2116.69 414.0 -77.86 - - 2817.38 - - - - - - - - - 16.04 -
3670.63 429.93 -10.80 492 3676.39 roll -1.25 - - 1836.94 - 4.08 0.161 663.75 -356.1 -77.86 - - 2816.91 - - - - - - - - - 16.02 -
3735.73 437.51 -13.48 505 3741.34 roll -1.25 - - 1835.88 - 3.51 0.060 2119.62 414.8 -77.86 - - 2818.91 - - - - - - - - - 16.04 -
4040.73 468.32 -9.75 536 4042.06 no move -1.25 - - 1836.75 - - - 2118.88 - -77.86 - - 2815.91 - - - - - - - - - - -
4340.80 497.70 -9.28 566 4346.49 roll -1.25 - - 1835.75 - 3.65 0.126 3473.00 371.0 -77.86 - - 2818.00 - - - - - - - - - 16.04 -
4399.76 504.33 -11.61 578 4406.55 roll -1.25 - - 1836.06 - 3.36 0.067 2083.38 -413.6 -77.86 - - 2818.06 - - - - - - - - - 16.06 -
4705.90 533.42 -9.29 609 4711.66 roll -1.25 - - 1837.06 - 4.03 0.168 662.56 -352.6 -77.86 - - 2813.44 - - - - - - - - - 16.03 -
4770.99 540.76 -12.02 622 4776.60 roll -1.25 - - 1835.88 - 3.54 0.062 2116.75 410.8 -77.86 - - 2817.50 - - - - - - - - - 16.06 -
5076.00 569.04 -8.47 653 5077.32 no move -1.25 - - 1836.75 - - - 2117.31 - -77.86 - - 2815.28 - - - - - - - - - - -
5376.08 597.36 -10.18 683 5381.85 roll -1.25 - - 1836.62 - 4.12 0.168 663.44 -352.9 -77.86 - - 2812.72 - - - - - - - - - 16.03 -
5431.15 602.90 -10.76 694 5436.76 roll -1.25 - - 1836.38 - 3.57 0.063 2118.00 407.4 -77.86 - - 2812.81 - - - - - - - - - 16.06 -
5736.12 631.82 -8.92 725 5737.45 no move -1.25 - - 1836.94 - - - 2117.56 - -77.86 - - 2812.50 - - - - - - - - - - -
6036.14 657.97 -8.19 755 6041.93 roll -1.25 - - 1836.50 - 4.12 0.168 663.69 -352.9 -77.86 - - 2814.75 - - - - - - - - - 16.03 -
6265.13 678.51 -8.89 801 6271.95 roll -1.25 - - 1836.38 - 3.59 0.068 2116.25 404.6 -77.86 - - 2815.31 - - - - - - - - - 16.07 -
6571.25 698.36 -5.98 832 6577.02 roll -1.25 - - 1837.00 - 4.11 0.167 663.62 -353.4 -77.86 - - 2810.84 - - - - - - - - - 16.03 -
6800.21 717.69 -8.39 878 6807.04 roll -1.25 - - 1836.62 - 3.58 0.069 2117.12 406.0 -77.86 - - 2813.56 - - - - - - - - - 16.06 -
7106.31 738.35 -6.46 909 7112.08 roll -1.25 - - 1836.94 - 3.69 0.132 3473.69 367.6 -77.86 - - 2812.47 - - - - - - - - - 16.05 -
7115.16 739.09 -7.05 911 7122.17 roll -1.25 - - 1836.56 - 3.38 0.067 2084.12 -411.1 -77.86 - - 2811.84 - - - - - - - - - 16.07 -
7421.35 759.05 -5.62 942 7427.12 roll -1.25 - - 1836.75 - 3.77 0.132 3472.25 368.2 -77.86 - - 2813.91 - - - - - - - - - 16.06 -
7596.38 772.77 -7.90 977 7601.08 roll -1.25 - - 1835.62 - 3.43 0.071 2084.75 -404.5 -77.86 - - 2813.91 - - - - - - - - - 16.07 -
7906.41 793.18 -6.09 1009 7912.17 roll -1.25 - - 1836.94 - 4.08 0.175 664.00 -348.2 -77.86 - - 2809.44 - - - - - - - - - 16.03 -
8135.39 813.84 -9.33 1055 8142.22 roll -1.25 - - 1837.06 - 3.57 0.070 2116.06 406.7 -77.86 - - 2810.91 - - - - - - - - - 16.06 -
8441.49 838.09 -7.72 1086 8442.82 no move -1.25 - - 1836.69 - - - 2116.06 - -77.86 - - 2811.19 - - - - - - - - - - -
8741.55 861.99 -8.39 1116 8742.88 no move -1.25 - - 1836.75 - - - 2115.81 - -77.86 - - 2809.09 - - - - - - - - - - -
9041.57 885.22 -8.67 1146 9042.90 no move -1.25 - - 1836.94 - - - 2116.69 - -77.86 - - 2808.62 - - - - - - - - - - -
9341.63 908.65 -7.81 1176 9347.35 roll -1.25 - - 1836.56 - 3.72 0.138 3471.44 364.2 -77.86 - - 2808.22 - - - - - - - - - 16.05 -
9436.75 917.14 -9.79 1195 9441.33 roll -1.25 - - 1836.50 - 3.43 0.077 2086.44 -403.8 -77.86 - - 2808.44 - - - - - - - - - 16.06 -
9746.76 937.85 -4.53 1227 9752.51 roll -1.25 - - 1836.94 - 4.09 0.175 663.88 -347.8 -77.86 - - 2808.25 - - - - - - - - - 16.02 -
9791.79 937.42 -3.94 1236 9797.44 roll -1.25 - - 1837.31 - 3.54 0.063 2116.62 410.4 -77.86 - - 2807.34 - - - - - - - - - 16.06 -
10096.84 937.95 -0.04 1267 10102.54 roll -1.25 - - 1837.00 - 3.70 0.136 3473.25 366.7 -77.86 - - 2811.28 - - - - - - - - - 16.05 -
10115 end dive: NO_VERTICAL_VELOCITY
10115 begin apogee
10120.63 937.55 - 1271 10187.45 -0.25 1.67 0.114 2082.00 146.7 0.06 0.319 2214.25 -20983.3 - 63.71 2.236 2496.91 -4.9 0.349 - - - - - - 16.02 15.59 12.71
10188 end apogee: CONTROL_FINISHED_OK
10189 begin climb
10189.11 936.97 - 1278 10268.89 1.25 2.46 0.080 2447.88 148.7 4.35 0.155 736.38 -339.7 77.86 70.54 2.178 2178.69 -4.5 0.327 - - - - - - 15.64 15.26 12.87
10430.55 918.68 10.49 1326 10437.49 done 1.25 - - 2447.19 - 3.75 0.064 2214.62 394.2 77.86 - - 2170.66 - - - - - - - - - 15.59 -
10736.77 891.88 8.73 1357 10738.10 VBD 1.25 - - 2448.00 - - - 2214.25 - 77.86 - - 2165.88 - - - - - - - - - - -
11036.83 868.38 9.18 1387 11042.43 done 1.25 - - 2447.19 - 3.54 0.138 3473.19 355.6 77.86 - - 2165.56 - - - - - - - - - 15.80 -
11161.87 855.60 11.05 1412 11166.59 done 1.25 - - 2447.62 - 3.21 0.067 2182.62 -402.0 77.86 - - 2168.47 - - - - - - - - - 15.85 -
11471.94 828.65 9.61 1444 11473.27 VBD 1.25 - - 2447.44 - - - 2182.62 - 77.86 - - 2163.50 - - - - - - - - - - -
11772.00 802.31 8.94 1474 11773.33 VBD 1.25 - - 2447.38 - - - 2183.00 - 77.86 - - 2162.72 - - - - - - - - - - -
12072.07 778.05 7.23 1504 12073.40 VBD 1.28 - - 2448.31 - - - 2182.56 - 77.86 - - 2162.50 - - - - - - - - - - -
12372.10 755.14 7.24 1534 12373.44 VBD 1.30 - - 2448.00 - - - 2183.19 - 77.86 - - 2161.47 - - - - - - - - - - -
12672.14 734.70 6.19 1564 12673.47 VBD 1.36 - - 2448.12 - - - 2182.94 - 77.86 - - 2162.75 - - - - - - - - - - -
12972.17 716.80 6.59 1594 12977.91 1.40 0.19 0.113 2489.94 220.1 3.60 0.136 3473.25 358.4 77.86 - - 2162.56 - - - - - - - - 15.97 15.99 -
13091.10 706.85 8.03 1618 13097.91 done 1.40 - - 2490.06 - 3.21 0.068 2181.44 -402.4 77.86 - - 2163.31 - - - - - - - - - 16.00 -
13397.24 684.45 7.22 1649 13402.99 done 1.43 - - 2490.56 - 4.07 0.149 735.38 -355.3 77.86 - - 2160.47 - - - - - - - - - 15.99 -
13502.24 675.15 9.29 1670 13507.89 done 1.43 - - 2488.94 - 3.62 0.061 2218.56 409.7 77.86 - - 2161.59 - - - - - - - - - 16.01 -
13807.31 652.28 7.36 1701 13808.64 VBD 1.45 - - 2490.50 - - - 2219.19 - 77.86 - - 2160.12 - - - - - - - - - - -
14107.32 628.04 7.56 1731 14108.65 VBD 1.45 - - 2489.75 - - - 2218.69 - 77.86 - - 2158.91 - - - - - - - - - - -
14407.35 602.86 8.20 1761 14412.47 done 1.45 - - 2490.25 - 3.46 0.133 3473.25 362.6 77.86 - - 2159.16 - - - - - - - - - 16.02 -
14557.38 589.34 9.42 1791 14561.91 done 1.45 - - 2490.56 - 3.17 0.065 2180.06 -407.9 77.86 - - 2161.94 - - - - - - - - - 16.02 -
14867.42 564.88 8.37 1823 14873.18 done 1.45 - - 2488.25 - 4.03 0.146 735.19 -358.5 77.86 - - 2161.31 - - - - - - - - - 16.01 -
15006.30 552.95 8.43 1851 15013.23 done 1.45 - - 2490.25 - 3.62 0.062 2219.62 410.1 77.86 - - 2159.72 - - - - - - - - - 16.02 -
15312.50 531.84 7.31 1882 15313.83 VBD 1.47 - - 2490.31 - - - 2219.94 - 77.86 - - 2158.31 - - - - - - - - - - -
15612.53 510.62 7.37 1912 15613.86 VBD 1.49 - - 2489.69 - - - 2219.56 - 77.86 - - 2159.16 - - - - - - - - - - -
15912.56 492.64 6.19 1942 15913.90 VBD 1.54 - - 2490.31 - - - 2219.81 - 77.86 - - 2159.88 - - - - - - - - - - -
16212.62 476.26 4.92 1972 16257.80 1.68 0.35 0.079 2556.88 190.2 4.15 0.143 737.19 -357.3 122.58 36.83 1.668 1999.53 -4.4 0.210 - - - - - - 15.99 15.82 12.78
16322.65 466.04 11.61 1994 16328.39 roll 1.68 - - 2556.44 - 3.64 0.061 2218.12 406.8 122.58 - - 1995.41 - - - - - - - - - 15.87 -
16627.70 432.91 11.50 2025 16632.27 roll 1.68 - - 2557.38 - 3.46 0.128 3472.62 362.6 122.58 - - 1990.97 - - - - - - - - - 15.91 -
16771.59 412.48 14.40 2054 16778.45 roll 1.68 - - 2557.06 - 3.18 0.062 2182.12 -405.8 122.58 - - 1993.34 - - - - - - - - - 15.93 -
17077.81 377.67 11.17 2085 17079.15 VBD 1.68 - - 2556.75 - - - 2181.69 - 122.58 - - 1991.28 - - - - - - - - - - -
17377.87 346.03 9.89 2115 17379.21 VBD 1.68 - - 2556.88 - - - 2182.25 - 122.58 - - 1990.34 - - - - - - - - - - -
17677.94 316.40 10.03 2145 17679.27 VBD 1.68 - - 2556.75 - - - 2182.19 - 122.58 - - 1990.12 - - - - - - - - - - -
17978.00 287.74 8.94 2175 17983.61 done 1.68 - - 2557.75 - 3.55 0.124 3473.00 363.6 122.58 - - 1989.94 - - - - - - - - - 15.94 -
18207.00 262.22 10.63 2221 18213.78 done 1.68 - - 2557.38 - 3.17 0.062 2180.81 -407.6 122.58 - - 1991.47 - - - - - - - - - 15.96 -
18513.12 233.33 9.11 2252 18518.79 done 1.68 - - 2556.94 - 3.98 0.139 736.31 -362.9 122.58 - - 1991.34 - - - - - - - - - 15.99 -
18688.17 214.78 10.34 2287 18693.79 done 1.68 - - 2557.44 - 3.62 0.058 2220.38 410.0 122.58 - - 1987.88 - - - - - - - - - 16.00 -
18993.21 191.21 7.81 2318 18994.54 VBD 1.68 - - 2557.56 - - - 2220.44 - 122.58 - - 1989.22 - - - - - - - - - - -
19293.25 164.94 7.92 2348 19298.92 done 1.68 - - 2557.62 - 4.09 0.134 735.31 -363.1 122.58 - - 1987.81 - - - - - - - - - 15.97 -
19408.25 153.68 9.25 2371 19413.99 done 1.68 - - 2555.69 - 3.59 0.056 2223.12 414.4 122.58 - - 1991.41 - - - - - - - - - 16.01 -
19713.31 133.25 6.92 2402 19719.05 done 1.71 - - 2557.25 - 4.06 0.131 735.94 -366.3 122.58 - - 1987.53 - - - - - - - - - 15.98 -
19942.26 116.68 6.23 2448 19949.09 done 1.77 - - 2557.44 - 3.59 0.056 2224.38 414.6 122.58 - - 1989.56 - - - - - - - - - 16.01 -
20248.39 105.67 4.11 2479 20300.28 1.94 0.32 0.079 2617.19 186.7 4.11 0.131 736.31 -362.1 178.80 45.92 1.238 1771.00 -4.8 0.069 - - - - - - 16.00 15.79 12.77
20322.29 100.80 7.50 2494 20329.15 roll 1.95 - - 2618.75 - 3.62 0.054 2223.62 410.9 178.80 - - 1766.25 - - - - - - - - - 15.83 -
20628.46 72.62 7.07 2554 20634.31 done 1.98 - - 2618.94 - 3.39 0.117 3471.94 368.2 178.80 - - 1762.12 - - - - - - - - - 15.87 -
20858.52 59.03 5.34 2600 20896.05 2.10 0.19 0.094 2657.12 200.9 3.15 0.053 2177.62 -410.9 217.46 32.03 1.146 1613.53 -4.6 0.040 - - - - - - 15.85 15.90 12.80
21073.96 44.58 5.24 2643 21115.32 done 2.22 - - 2657.75 - 3.59 0.115 3474.25 361.2 257.56 33.88 1.115 1449.06 -4.9 0.033 - - - - - - - 15.67 12.73
21153.91 40.57 5.40 2659 21191.35 2.33 0.30 0.082 2711.19 178.1 3.21 0.053 2179.12 -403.5 295.34 32.06 1.090 1296.16 -4.8 0.030 - - - - - - 15.70 15.75 12.78
21369.13 14.99 14.30 2702 21370.46 no move 2.33 - - 2711.88 - - - 2179.44 - 295.34 - - 1290.81 - - - - - - - - - - -
21459 end climb: SURFACE_DEPTH_REACHED
21459 begin surface coast
21474 end surface coast: CONTROL_FINISHED_OK
21474 begin surface
SM 0.48 - - - - 175.2 0.17 0.182 768.1 4518.2 16.49 0.067 774.3 47.0 - 0.22 0.106 761.9 3463.2 -1.603 - - 15.45 15.74 15.77 -