NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 314 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 96.33 of 575.00 AH used of 24V (83.25% remains)
• Surface angle -55.4 deg, depth 1.05 m • Intended pitch -20.4 deg, speed -8.049 cm/s
• VBD pumped to 424.74 (SM_CC=425)
• GPS1 time: 17 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
6 end surface: CONTROL_FINISHED_OK
6 begin dive
6.85 - - - 80.50 VBD -1.25 - - 172.50 - - - 2119.88 - -77.86 73.05 0.005 2365.59 - - - - - - - - - - 15.58
80.76 3.02 -3.60 14 117.21 -1.25 13.99 0.262 1837.38 119.0 3.73 0.116 3473.69 363.0 -77.86 12.46 0.007 2815.41 36.1 -2.633 - - - - - - 15.61 15.56 15.59
119.96 9.39 -14.78 22 125.70 roll -1.25 - - 1837.25 - 3.57 0.059 2083.06 -389.5 -77.86 - - 2815.56 - - - - - - - - - 15.71 -
305.05 44.29 -20.97 59 306.37 no move -1.25 - - 1837.00 - - - 2082.81 - -77.86 - - 2815.88 - - - - - - - - - - -
485.11 74.83 -17.02 95 490.90 roll -1.25 - - 1836.88 - 3.80 0.115 3473.75 366.0 -77.86 - - 2816.28 - - - - - - - - - 15.83 -
510.13 79.10 -17.08 100 515.88 roll -1.25 - - 1836.81 - 3.55 0.060 2084.81 -391.3 -77.86 - - 2816.31 - - - - - - - - - 15.84 -
695.19 102.63 -12.07 135 696.52 no move -1.25 - - 1836.81 - - - 2085.31 - -77.86 - - 2815.88 - - - - - - - - - - -
995.21 136.54 -10.90 165 1000.93 roll -1.25 - - 1837.19 - 3.75 0.115 3474.56 370.5 -77.86 - - 2814.44 - - - - - - - - - 15.92 -
1224.20 164.33 -11.87 211 1231.04 roll -1.25 - - 1836.19 - 3.53 0.062 2084.44 -393.8 -77.86 - - 2817.44 - - - - - - - - - 15.94 -
1530.31 195.52 -10.24 242 1536.17 roll -1.25 - - 1837.06 - 4.09 0.160 663.88 -347.3 -77.86 - - 2817.12 - - - - - - - - - 15.93 -
1615.32 205.79 -12.88 259 1620.03 roll -1.25 - - 1836.94 - 3.54 0.056 2115.00 409.9 -77.86 - - 2818.72 - - - - - - - - - 15.96 -
1925.38 238.11 -10.46 291 1931.16 roll -1.25 - - 1836.50 - 4.12 0.156 664.06 -352.2 -77.86 - - 2817.16 - - - - - - - - - 15.96 -
1984.30 245.25 -11.73 303 1991.14 roll -1.25 - - 1837.00 - 3.53 0.056 2119.00 412.2 -77.86 - - 2816.50 - - - - - - - - - 16.00 -
2290.42 276.99 -11.05 334 2291.75 no move -1.25 - - 1837.12 - - - 2119.38 - -77.86 - - 2817.25 - - - - - - - - - - -
2590.45 308.32 -10.75 364 2591.78 no move -1.25 - - 1837.56 - - - 2118.88 - -77.86 - - 2816.94 - - - - - - - - - - -
2890.48 338.87 -10.77 394 2891.81 no move -1.25 - - 1836.94 - - - 2119.19 - -77.86 - - 2816.91 - - - - - - - - - - -
3190.52 370.20 -10.23 424 3191.85 no move -1.25 - - 1837.06 - - - 2119.25 - -77.86 - - 2816.53 - - - - - - - - - - -
3490.55 399.33 -10.10 454 3491.88 no move -1.25 - - 1836.88 - - - 2119.31 - -77.86 - - 2816.19 - - - - - - - - - - -
3790.59 426.56 -9.23 484 3791.92 no move -1.25 - - 1837.19 - - - 2119.69 - -77.86 - - 2816.34 - - - - - - - - - - -
4090.62 452.85 -8.73 514 4091.95 no move -1.25 - - 1836.81 - - - 2119.12 - -77.86 - - 2816.19 - - - - - - - - - - -
4390.65 480.16 -9.76 544 4396.36 roll -1.25 - - 1836.94 - 3.66 0.128 3474.31 370.3 -77.86 - - 2817.78 - - - - - - - - - 16.03 -
4439.59 485.63 -11.55 554 4446.55 roll -1.25 - - 1837.12 - 3.49 0.067 2083.50 -398.5 -77.86 - - 2816.03 - - - - - - - - - 16.07 -
4745.71 515.25 -9.72 585 4747.04 no move -1.25 - - 1837.12 - - - 2083.38 - -77.86 - - 2815.66 - - - - - - - - - - -
5045.77 545.03 -9.69 615 5047.10 no move -1.25 - - 1836.69 - - - 2083.50 - -77.86 - - 2814.97 - - - - - - - - - - -
5345.84 574.51 -9.73 645 5351.62 roll -1.25 - - 1836.56 - 4.11 0.171 663.38 -345.5 -77.86 - - 2813.09 - - - - - - - - - 16.03 -
5400.93 580.97 -12.76 656 5406.53 roll -1.25 - - 1836.75 - 3.57 0.064 2118.50 407.6 -77.86 - - 2816.44 - - - - - - - - - 16.05 -
5705.92 610.98 -8.97 687 5707.25 no move -1.25 - - 1836.69 - - - 2118.38 - -77.86 - - 2813.12 - - - - - - - - - - -
6005.99 638.22 -8.88 717 6007.32 no move -1.25 - - 1836.94 - - - 2118.19 - -77.86 - - 2812.56 - - - - - - - - - - -
6306.05 663.56 -8.57 747 6307.38 no move -1.25 - - 1836.44 - - - 2118.38 - -77.86 - - 2811.78 - - - - - - - - - - -
6606.11 689.34 -8.73 777 6611.91 roll -1.25 - - 1837.19 - 4.22 0.173 664.56 -344.5 -77.86 - - 2810.88 - - - - - - - - - 16.02 -
6671.13 695.84 -10.11 790 6676.82 roll -1.25 - - 1834.81 - 3.62 0.067 2115.69 400.9 -77.86 - - 2812.94 - - - - - - - - - 16.07 -
6976.20 723.14 -9.36 821 6977.53 no move -1.25 - - 1836.31 - - - 2116.12 - -77.86 - - 2812.31 - - - - - - - - - - -
7276.22 751.20 -9.46 851 7277.55 no move -1.25 - - 1836.81 - - - 2116.00 - -77.86 - - 2811.16 - - - - - - - - - - -
7576.25 777.65 -8.52 881 7577.58 no move -1.25 - - 1836.81 - - - 2116.12 - -77.86 - - 2811.69 - - - - - - - - - - -
7876.29 803.38 -8.74 911 7877.62 no move -1.25 - - 1836.50 - - - 2115.81 - -77.86 - - 2811.34 - - - - - - - - - - -
8176.32 829.60 -8.62 941 8177.65 no move -1.25 - - 1836.94 - - - 2116.38 - -77.86 - - 2809.53 - - - - - - - - - - -
8476.37 853.57 -7.53 971 8477.70 no move -1.25 - - 1837.00 - - - 2117.00 - -77.86 - - 2808.97 - - - - - - - - - - -
8776.40 876.26 -6.51 1001 8782.20 roll -1.25 - - 1836.44 - 4.26 0.178 663.44 -341.2 -77.86 - - 2813.78 - - - - - - - - - 16.02 -
8831.48 881.80 -9.11 1012 8836.32 roll -1.25 - - 1837.00 - 3.65 0.071 2113.94 397.4 -77.86 - - 2809.03 - - - - - - - - - 16.06 -
9141.45 906.08 -7.50 1044 9142.78 no move -1.25 - - 1837.06 - - - 2114.06 - -77.86 - - 2810.50 - - - - - - - - - - -
9441.48 927.64 -7.32 1074 9447.42 roll -1.25 - - 1835.69 - 4.24 0.179 663.44 -342.1 -77.86 - - 2809.47 - - - - - - - - - 16.02 -
9526.50 935.77 -8.89 1091 9532.20 roll -1.25 - - 1837.06 - 3.66 0.073 2113.62 396.2 -77.86 - - 2807.53 - - - - - - - - - 16.06 -
9831.54 956.71 -6.45 1122 9832.87 no move -1.25 - - 1836.56 - - - 2114.25 - -77.86 - - 2809.56 - - - - - - - - - - -
10131.57 978.87 -7.21 1152 10132.89 no move -1.25 - - 1836.75 - - - 2114.00 - -77.86 - - 2807.66 - - - - - - - - - - -
10282 end dive: TARGET_DEPTH_EXCEEDED
10282 begin apogee
10282.84 990.18 -7.50 1167 10353.39 -0.25 1.75 0.156 2080.56 139.3 0.06 0.326 2187.25 1220.8 - 65.54 2.283 2498.12 -4.7 0.346 - - - - - - 15.99 15.58 12.73
10355 end apogee: CONTROL_FINISHED_OK
10355 begin climb
10355.09 991.65 - 1174 10433.75 1.25 2.54 0.097 2447.69 144.5 - - 2187.31 - 77.86 72.39 2.231 2182.38 -4.4 0.328 - - - - - - 15.62 - 12.87
10731.72 959.43 8.69 1212 10733.05 VBD 1.25 - - 2447.62 - - - 2187.31 - 77.86 - - 2170.34 - - - - - - - - - - -
11031.66 929.84 9.06 1242 11032.99 VBD 1.25 - - 2448.38 - - - 2187.00 - 77.86 - - 2166.97 - - - - - - - - - - -
11331.69 900.42 9.82 1272 11333.02 VBD 1.25 - - 2447.44 - - - 2187.38 - 77.86 - - 2167.00 - - - - - - - - - - -
11631.75 871.24 10.50 1302 11633.08 VBD 1.25 - - 2447.50 - - - 2187.69 - 77.86 - - 2166.22 - - - - - - - - - - -
11931.82 843.49 9.47 1332 11937.45 done 1.25 - - 2447.06 - 3.66 0.135 3471.88 350.9 77.86 - - 2164.41 - - - - - - - - - 15.92 -
11996.86 837.26 8.38 1345 12001.41 done 1.25 - - 2447.81 - 3.31 0.068 2182.94 -389.4 77.86 - - 2167.31 - - - - - - - - - 15.94 -
12306.91 811.14 8.66 1377 12308.24 VBD 1.25 - - 2448.12 - - - 2183.38 - 77.86 - - 2162.53 - - - - - - - - - - -
12606.98 787.19 7.34 1407 12608.31 VBD 1.27 - - 2448.25 - - - 2184.12 - 77.86 - - 2163.91 - - - - - - - - - - -
12907.04 764.46 7.53 1437 12908.38 VBD 1.29 - - 2447.81 - - - 2183.94 - 77.86 - - 2161.84 - - - - - - - - - - -
13207.11 743.51 7.08 1467 13212.94 done 1.32 - - 2448.06 - 4.13 0.151 736.25 -350.5 77.86 - - 2162.09 - - - - - - - - - 15.97 -
13312.13 734.32 8.87 1488 13317.90 done 1.32 - - 2447.56 - 3.69 0.064 2217.25 401.4 77.86 - - 2162.88 - - - - - - - - - 15.98 -
13617.21 712.50 6.84 1519 13618.54 VBD 1.35 - - 2447.56 - - - 2217.62 - 77.86 - - 2161.75 - - - - - - - - - - -
13917.24 690.53 6.93 1549 13918.71 1.39 0.17 0.104 2486.31 227.9 - - 2217.25 - 77.86 - - 2161.97 - - - - - - - - 15.98 - -
14217.26 665.17 8.37 1579 14222.85 done 1.39 - - 2486.12 - 3.49 0.131 3473.50 360.0 77.86 - - 2160.97 - - - - - - - - - 16.01 -
14402.33 647.01 8.85 1616 14406.87 done 1.39 - - 2487.06 - 3.27 0.064 2181.75 -395.0 77.86 - - 2161.41 - - - - - - - - - 16.01 -
14712.36 620.83 8.49 1648 14717.96 done 1.39 - - 2486.88 - 3.59 0.128 3472.00 359.4 77.86 - - 2159.91 - - - - - - - - - 16.01 -
14761.21 616.30 8.88 1658 14768.08 done 1.39 - - 2486.62 - 3.24 0.063 2182.44 -398.0 77.86 - - 2161.38 - - - - - - - - - 16.01 -
15067.40 591.99 8.60 1689 15068.73 VBD 1.39 - - 2486.19 - - - 2182.75 - 77.86 - - 2161.22 - - - - - - - - - - -
15367.43 569.17 7.71 1719 15373.40 done 1.39 - - 2485.88 - 4.08 0.143 736.44 -354.5 77.86 - - 2161.16 - - - - - - - - - 16.01 -
15442.45 562.52 9.42 1734 15448.08 done 1.39 - - 2486.62 - 3.64 0.062 2218.56 407.2 77.86 - - 2158.06 - - - - - - - - - 16.02 -
15747.50 540.21 6.34 1765 15748.84 VBD 1.44 - - 2486.69 - - - 2218.50 - 77.86 - - 2159.22 - - - - - - - - - - -
16047.53 520.26 6.50 1795 16048.86 VBD 1.49 - - 2486.62 - - - 2218.56 - 77.86 - - 2158.97 - - - - - - - - - - -
16347.57 500.46 6.50 1825 16349.03 1.53 0.15 0.106 2520.31 224.6 - - 2218.81 - 77.86 - - 2159.47 - - - - - - - - 16.01 - -
16647.61 480.10 6.87 1855 16648.94 VBD 1.57 - - 2520.06 - - - 2219.00 - 77.86 - - 2160.50 - - - - - - - - - - -
16947.64 460.88 6.12 1885 16948.97 VBD 1.63 - - 2519.69 - - - 2218.31 - 77.86 - - 2162.25 - - - - - - - - - - -
17247.67 440.66 7.04 1915 17253.37 done 1.66 - - 2520.62 - 4.16 0.139 736.12 -356.3 77.86 - - 2158.72 - - - - - - - - - 16.01 -
17302.74 435.82 8.48 1926 17308.29 done 1.66 - - 2521.00 - 3.62 0.060 2219.19 409.7 77.86 - - 2158.50 - - - - - - - - - 16.03 -
17607.74 413.58 7.72 1957 17612.45 done 1.66 - - 2520.62 - 3.46 0.126 3474.75 362.9 77.86 - - 2156.97 - - - - - - - - - 16.02 -
17837.83 395.52 7.71 2003 17842.38 done 1.66 - - 2521.19 - 3.23 0.060 2179.88 -400.9 77.86 - - 2159.47 - - - - - - - - - 16.03 -
18147.91 375.98 6.04 2035 18179.33 1.74 0.26 0.094 2571.75 194.5 4.05 0.142 735.44 -356.7 106.50 23.12 1.530 2063.72 -4.1 0.172 - - - - - - 16.01 15.86 12.75
18277.93 362.73 12.05 2061 18283.56 roll 1.74 - - 2571.44 - 3.65 0.058 2220.25 406.8 106.50 - - 2061.25 - - - - - - - - - 15.91 -
18583.00 335.30 8.70 2092 18584.33 no move 1.74 - - 2571.44 - - - 2220.69 - 106.50 - - 2059.84 - - - - - - - - - - -
18883.06 306.49 10.58 2122 18884.39 no move 1.74 - - 2571.50 - - - 2220.69 - 106.50 - - 2057.78 - - - - - - - - - - -
19183.12 275.39 9.49 2152 19184.45 no move 1.74 - - 2571.44 - - - 2220.75 - 106.50 - - 2059.12 - - - - - - - - - - -
19483.18 247.76 9.01 2182 19489.10 roll 1.74 - - 2571.06 - 4.14 0.135 736.25 -358.6 106.50 - - 2058.84 - - - - - - - - - 15.98 -
19578.21 237.87 10.76 2201 19583.84 done 1.74 - - 2571.56 - 3.65 0.058 2221.25 406.8 106.50 - - 2055.81 - - - - - - - - - 15.99 -
19883.26 213.22 7.60 2232 19884.59 VBD 1.74 - - 2571.88 - - - 2221.31 - 106.50 - - 2057.75 - - - - - - - - - - -
20183.30 191.84 6.89 2262 20188.87 done 1.78 - - 2571.31 - 3.46 0.120 3474.00 362.0 106.50 - - 2056.53 - - - - - - - - - 16.00 -
20412.20 173.08 8.79 2308 20419.05 done 1.78 - - 2571.31 - 3.24 0.056 2179.12 -399.7 106.50 - - 2058.59 - - - - - - - - - 16.01 -
20718.41 150.16 7.39 2339 20719.74 VBD 1.80 - - 2571.81 - - - 2178.38 - 106.50 - - 2057.56 - - - - - - - - - - -
21018.43 131.43 5.03 2369 21061.19 1.93 0.22 0.096 2614.88 195.8 4.07 0.135 735.31 -354.6 149.57 36.39 1.272 1888.19 -4.7 0.081 - - - - - - 15.99 15.80 12.76
21284.05 108.04 10.05 2422 21289.80 roll 1.93 - - 2613.75 - 3.63 0.056 2220.56 409.2 149.57 - - 1884.03 - - - - - - - - - 15.87 -
21589.15 83.65 5.73 2474 21625.60 done 2.02 - - 2615.06 - 4.18 0.130 735.19 -355.4 182.75 28.14 1.185 1753.72 -4.6 0.055 - - - - - - - 15.76 12.79
21649.17 79.87 6.51 2486 21654.99 roll back 2.07 0.17 0.096 2651.75 215.8 3.66 0.054 2223.69 406.7 182.75 - - 1750.84 - - - - - - - - 15.80 15.83 -
21834.24 66.64 6.56 2523 21839.95 roll 2.12 - - 2651.44 - 3.45 0.115 3473.00 362.1 182.75 - - 1749.78 - - - - - - - - - 15.83 -
21899.24 61.25 8.72 2536 21904.93 roll 2.12 - - 2651.06 - 3.21 0.053 2178.12 -403.4 182.75 - - 1748.47 - - - - - - - - - 15.87 -
22084.31 50.28 4.01 2573 22140.84 2.29 0.28 0.085 2702.00 181.9 4.03 0.133 736.25 -357.8 240.37 47.70 1.149 1518.91 -4.8 0.036 - - - - - - 15.84 15.67 12.69
22204.27 42.83 9.42 2597 22210.04 roll 2.29 - - 2701.88 - 3.67 0.054 2224.25 405.4 240.37 - - 1517.38 - - - - - - - - - 15.74 -
22389.35 31.17 6.78 2634 22395.06 roll 2.33 - - 2702.50 - 3.44 0.115 3473.31 363.1 240.37 - - 1514.00 - - - - - - - - - 15.80 -
22454.34 25.70 8.45 2647 22460.18 done 2.33 - - 2701.69 - 3.21 0.054 2178.75 -403.3 240.37 - - 1512.03 - - - - - - - - - 15.79 -
22639.39 6.90 10.17 2684 22640.72 VBD 2.33 - - 2701.94 - - - 2178.81 - 240.37 - - 1511.38 - - - - - - - - - - -
22685 end climb: SURFACE_DEPTH_REACHED
22685 begin surface coast
22700 end surface coast: CONTROL_FINISHED_OK
22700 begin surface
SM 0.71 - - - - 184.0 - 0.010 768.5 - 16.46 0.077 768.4 46.7 - 0.22 0.107 768.6 3493.6 -2.369 - - 30.36 15.80 15.85 -