NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 339 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 104.04 of 575.00 AH used of 24V (81.91% remains)
• Surface angle -63.0 deg, depth 1.00 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.73 (SM_CC=425)
• GPS1 time: 24 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
6.90 - - - 85.58 VBD -1.25 - - 172.81 - - - 2118.38 - -77.86 78.11 0.005 2502.69 - - - - - - - - - - 15.55
85.84 3.48 -3.57 15 117.63 -1.25 14.02 0.268 1835.94 118.6 3.76 0.118 3474.06 360.6 -77.86 7.84 0.008 2815.97 40.0 -2.939 - - - - - - 15.60 15.54 15.59
195.38 27.85 -21.50 37 201.15 roll -1.25 - - 1835.88 - 3.58 0.062 2084.81 -388.1 -77.86 - - 2816.81 - - - - - - - - - 15.72 -
380.44 63.98 -16.14 74 386.25 roll -1.25 - - 1835.75 - 3.84 0.112 3473.50 361.6 -77.86 - - 2816.34 - - - - - - - - - 15.80 -
460.52 77.39 -15.81 90 466.22 roll -1.25 - - 1834.81 - 3.57 0.058 2084.50 -389.1 -77.86 - - 2818.00 - - - - - - - - - 15.82 -
650.50 103.76 -12.36 125 651.83 no move -1.25 - - 1835.62 - - - 2084.62 - -77.86 - - 2816.88 - - - - - - - - - - -
950.53 135.86 -10.94 155 956.32 roll -1.25 - - 1834.25 - 4.16 0.155 663.81 -341.5 -77.86 - - 2817.72 - - - - - - - - - 15.82 -
1019.45 144.23 -12.04 169 1026.30 roll -1.25 - - 1835.38 - 3.54 0.054 2118.25 410.9 -77.86 - - 2817.50 - - - - - - - - - 15.86 -
1325.58 176.64 -11.07 200 1326.91 no move -1.25 - - 1835.88 - - - 2118.38 - -77.86 - - 2817.59 - - - - - - - - - - -
1625.61 208.41 -10.53 230 1626.94 no move -1.25 - - 1835.88 - - - 2117.81 - -77.86 - - 2818.06 - - - - - - - - - - -
1925.64 239.34 -10.17 260 1926.97 no move -1.25 - - 1835.56 - - - 2118.06 - -77.86 - - 2817.75 - - - - - - - - - - -
2225.69 270.55 -10.35 290 2231.50 roll -1.25 - - 1835.31 - 4.22 0.155 663.75 -344.6 -77.86 - - 2818.22 - - - - - - - - - 15.91 -
2270.75 276.05 -11.68 299 2276.34 roll -1.25 - - 1835.12 - 3.54 0.056 2119.50 411.2 -77.86 - - 2819.00 - - - - - - - - - 15.95 -
2575.77 308.96 -11.02 330 2577.10 no move -1.25 - - 1835.94 - - - 2119.62 - -77.86 - - 2818.03 - - - - - - - - - - -
2875.83 340.32 -10.53 360 2877.16 no move -1.25 - - 1835.88 - - - 2119.12 - -77.86 - - 2818.25 - - - - - - - - - - -
3175.89 371.80 -10.84 390 3181.70 roll -1.25 - - 1835.62 - 4.22 0.158 663.56 -344.9 -77.86 - - 2816.34 - - - - - - - - - 15.94 -
3220.92 377.66 -14.00 399 3225.59 roll -1.25 - - 1835.75 - 3.54 0.058 2119.19 411.2 -77.86 - - 2817.28 - - - - - - - - - 15.98 -
3530.98 409.70 -9.85 431 3532.31 no move -1.25 - - 1835.56 - - - 2121.81 - -77.86 - - 2817.22 - - - - - - - - - - -
3831.03 439.37 -9.88 461 3832.36 no move -1.25 - - 1835.44 - - - 2122.06 - -77.86 - - 2816.91 - - - - - - - - - - -
4131.09 467.61 -9.06 491 4132.41 no move -1.25 - - 1835.56 - - - 2121.75 - -77.86 - - 2816.41 - - - - - - - - - - -
4431.15 495.29 -8.84 521 4436.95 roll -1.25 - - 1835.81 - 4.25 0.162 664.69 -342.8 -77.86 - - 2816.00 - - - - - - - - - 15.95 -
4490.16 501.56 -10.08 533 4496.94 roll -1.25 - - 1835.50 - 3.53 0.060 2117.38 411.5 -77.86 - - 2816.09 - - - - - - - - - 15.99 -
4796.20 529.80 -9.37 564 4802.01 roll -1.25 - - 1834.25 - 4.22 0.162 664.75 -344.2 -77.86 - - 2817.03 - - - - - - - - - 15.95 -
4855.21 536.22 -11.41 576 4861.98 roll -1.25 - - 1835.88 - 3.54 0.060 2117.62 410.4 -77.86 - - 2815.16 - - - - - - - - - 15.99 -
5161.25 565.06 -8.66 607 5162.58 no move -1.25 - - 1835.38 - - - 2117.75 - -77.86 - - 2815.25 - - - - - - - - - - -
5461.29 592.89 -9.72 637 5462.62 no move -1.25 - - 1835.50 - - - 2117.62 - -77.86 - - 2815.22 - - - - - - - - - - -
5761.31 618.83 -8.85 667 5762.64 no move -1.25 - - 1835.88 - - - 2117.81 - -77.86 - - 2814.75 - - - - - - - - - - -
6061.34 643.97 -8.08 697 6062.67 no move -1.25 - - 1835.56 - - - 2118.00 - -77.86 - - 2814.62 - - - - - - - - - - -
6361.38 668.15 -7.74 727 6362.71 no move -1.25 - - 1835.75 - - - 2117.38 - -77.86 - - 2812.25 - - - - - - - - - - -
6661.41 691.87 -7.82 757 6667.28 roll -1.25 - - 1834.50 - 4.26 0.171 663.44 -341.3 -77.86 - - 2813.97 - - - - - - - - - 15.95 -
6750.35 700.09 -8.83 775 6757.19 roll -1.25 - - 1835.56 - 3.58 0.067 2116.00 405.7 -77.86 - - 2814.69 - - - - - - - - - 16.01 -
7056.47 725.73 -7.74 806 7057.80 no move -1.25 - - 1835.69 - - - 2116.38 - -77.86 - - 2813.28 - - - - - - - - - - -
7356.50 751.94 -8.51 836 7362.30 roll -1.25 - - 1833.69 - 4.24 0.171 664.44 -342.4 -77.86 - - 2814.19 - - - - - - - - - 15.94 -
7471.53 763.54 -9.65 859 7477.22 roll -1.25 - - 1834.31 - 3.60 0.069 2116.44 403.3 -77.86 - - 2812.84 - - - - - - - - - 16.00 -
7776.56 789.11 -8.43 890 7782.36 roll -1.25 - - 1834.81 - 4.22 0.171 663.69 -344.3 -77.86 - - 2811.12 - - - - - - - - - 15.94 -
7841.65 795.47 -9.68 903 7847.26 roll -1.25 - - 1835.62 - 3.54 0.068 2116.38 410.4 -77.86 - - 2809.88 - - - - - - - - - 15.99 -
8146.62 821.60 -8.68 934 8147.94 no move -1.25 - - 1835.75 - - - 2116.75 - -77.86 - - 2812.09 - - - - - - - - - - -
8446.64 845.77 -8.24 964 8447.97 no move -1.25 - - 1835.38 - - - 2116.62 - -77.86 - - 2809.88 - - - - - - - - - - -
8746.69 869.71 -7.50 994 8752.49 roll -1.25 - - 1834.12 - 4.25 0.175 664.50 -341.7 -77.86 - - 2811.47 - - - - - - - - - 15.94 -
8851.72 879.60 -9.67 1015 8856.61 roll -1.25 - - 1834.81 - 3.58 0.071 2115.69 405.4 -77.86 - - 2811.88 - - - - - - - - - 15.99 -
9161.78 903.64 -6.21 1047 9163.11 no move -1.25 - - 1835.56 - - - 2115.50 - -77.86 - - 2810.12 - - - - - - - - - - -
9461.84 925.93 -7.24 1077 9463.17 no move -1.25 - - 1835.81 - - - 2115.62 - -77.86 - - 2811.12 - - - - - - - - - - -
9761.91 948.55 -8.00 1107 9763.24 no move -1.25 - - 1836.06 - - - 2115.81 - -77.86 - - 2810.94 - - - - - - - - - - -
10061.96 972.41 -8.68 1137 10067.66 roll -1.25 - - 1835.69 - 3.67 0.140 3471.88 369.5 -77.86 - - 2808.62 - - - - - - - - - 16.03 -
10127.01 978.49 -9.08 1150 10132.67 roll -1.25 - - 1835.38 - 3.53 0.076 2087.38 -392.2 -77.86 - - 2808.41 - - - - - - - - - 16.05 -
10261 end dive: TARGET_DEPTH_EXCEEDED
10261 begin apogee
10263.34 990.05 -8.26 1164 10333.81 -0.25 1.74 0.150 2080.94 141.1 0.08 0.301 2187.00 1245.2 - 65.46 2.308 2499.94 -4.7 0.342 - - - - - - 15.98 15.58 12.34
10335 end apogee: CONTROL_FINISHED_OK
10335 begin climb
10335.55 992.66 - 1171 10413.53 1.25 2.47 0.087 2448.81 148.9 - - 2187.81 - 77.86 71.52 2.248 2181.47 -4.5 0.332 - - - - - - 15.62 - 12.81
10712.09 965.11 10.09 1209 10713.42 VBD 1.25 - - 2449.00 - - - 2187.19 - 77.86 - - 2168.66 - - - - - - - - - - -
11012.15 940.44 7.14 1239 11017.76 done 1.28 - - 2448.44 - 3.64 0.135 3473.12 353.3 77.86 - - 2167.09 - - - - - - - - - 15.78 -
11221.14 919.07 10.39 1281 11227.94 done 1.28 - - 2449.00 - 3.32 0.066 2184.44 -388.2 77.86 - - 2167.47 - - - - - - - - - 15.83 -
11527.25 888.92 10.48 1312 11528.58 VBD 1.28 - - 2448.88 - - - 2184.56 - 77.86 - - 2166.47 - - - - - - - - - - -
11827.28 862.36 8.51 1342 11833.07 done 1.28 - - 2446.69 - 4.15 0.150 737.06 -348.8 77.86 - - 2165.09 - - - - - - - - - 15.83 -
11902.30 853.98 10.34 1357 11908.06 done 1.28 - - 2447.06 - 3.68 0.062 2218.12 402.5 77.86 - - 2163.09 - - - - - - - - - 15.87 -
12207.37 825.53 9.18 1388 12208.70 VBD 1.28 - - 2449.19 - - - 2218.12 - 77.86 - - 2163.12 - - - - - - - - - - -
12507.37 800.09 9.44 1418 12512.99 done 1.28 - - 2448.94 - 3.53 0.136 3471.50 355.1 77.86 - - 2160.81 - - - - - - - - - 15.92 -
12572.40 793.70 10.37 1431 12576.94 done 1.28 - - 2448.06 - 3.27 0.065 2183.00 -394.0 77.86 - - 2163.94 - - - - - - - - - 15.96 -
12882.42 767.51 8.16 1463 12883.76 VBD 1.28 - - 2449.31 - - - 2183.06 - 77.86 - - 2160.88 - - - - - - - - - - -
13182.47 743.55 7.32 1493 13188.23 done 1.30 - - 2449.00 - 4.08 0.146 737.00 -354.4 77.86 - - 2160.84 - - - - - - - - - 15.91 -
13331.34 729.04 10.18 1523 13338.25 done 1.30 - - 2448.50 - 3.60 0.062 2218.88 411.6 77.86 - - 2160.97 - - - - - - - - - 15.93 -
13637.52 705.06 7.59 1554 13643.30 done 1.30 - - 2448.19 - 4.16 0.142 736.19 -356.4 77.86 - - 2160.06 - - - - - - - - - 15.92 -
13736.38 695.90 9.56 1574 13743.32 done 1.30 - - 2448.25 - 3.65 0.059 2219.25 406.3 77.86 - - 2160.31 - - - - - - - - - 15.93 -
14042.58 671.86 7.75 1605 14043.92 VBD 1.30 - - 2448.50 - - - 2218.56 - 77.86 - - 2159.12 - - - - - - - - - - -
14342.61 649.18 7.59 1635 14343.94 VBD 1.30 - - 2448.38 - - - 2219.19 - 77.86 - - 2160.06 - - - - - - - - - - -
14642.65 627.72 7.02 1665 14647.22 done 1.33 - - 2447.19 - 3.43 0.133 3473.31 365.6 77.86 - - 2162.12 - - - - - - - - - 15.96 -
14722.67 621.52 8.23 1681 14727.21 done 1.33 - - 2447.62 - 3.26 0.061 2179.69 -396.8 77.86 - - 2160.78 - - - - - - - - - 16.01 -
15032.74 600.31 6.73 1713 15034.07 VBD 1.37 - - 2448.31 - - - 2179.81 - 77.86 - - 2161.22 - - - - - - - - - - -
15332.79 579.95 7.13 1743 15334.26 1.40 0.19 0.111 2490.50 222.1 - - 2180.50 - 77.86 - - 2160.75 - - - - - - - - 15.99 - -
15632.88 558.24 7.41 1773 15634.21 VBD 1.42 - - 2489.81 - - - 2179.88 - 77.86 - - 2160.50 - - - - - - - - - - -
15932.90 535.18 7.87 1803 15934.24 VBD 1.42 - - 2490.25 - - - 2180.69 - 77.86 - - 2159.69 - - - - - - - - - - -
16232.97 512.12 7.89 1833 16234.31 VBD 1.42 - - 2490.44 - - - 2180.06 - 77.86 - - 2158.84 - - - - - - - - - - -
16533.04 490.83 7.08 1863 16538.66 done 1.45 - - 2489.31 - 3.60 0.127 3472.56 359.0 77.86 - - 2161.28 - - - - - - - - - 16.00 -
16638.08 483.04 7.27 1884 16642.62 done 1.47 - - 2490.12 - 3.26 0.061 2181.50 -396.0 77.86 - - 2160.50 - - - - - - - - - 16.03 -
16948.14 462.66 6.64 1916 16953.96 done 1.51 - - 2490.25 - 4.07 0.138 735.88 -355.2 77.86 - - 2159.00 - - - - - - - - - 15.95 -
17043.17 455.80 7.01 1935 17048.79 done 1.54 - - 2489.75 - 3.63 0.058 2221.88 409.4 77.86 - - 2158.16 - - - - - - - - - 15.97 -
17348.22 438.40 5.63 1966 17383.46 1.65 0.31 0.080 2548.62 189.9 3.49 0.126 3474.25 358.8 112.42 28.34 1.626 2040.31 -4.2 0.190 - - - - - - 16.01 15.83 12.76
17468.23 427.90 9.63 1990 17472.77 roll 1.65 - - 2548.94 - 3.26 0.058 2181.19 -396.6 112.42 - - 2037.19 - - - - - - - - - 15.89 -
17778.26 396.92 9.59 2022 17779.59 no move 1.65 - - 2548.81 - - - 2181.62 - 112.42 - - 2035.53 - - - - - - - - - - -
18078.31 368.26 9.60 2052 18079.64 no move 1.65 - - 2548.44 - - - 2181.38 - 112.42 - - 2035.00 - - - - - - - - - - -
18378.33 341.71 8.29 2082 18379.66 no move 1.65 - - 2548.62 - - - 2181.44 - 112.42 - - 2033.12 - - - - - - - - - - -
18678.36 316.82 7.93 2112 18683.97 roll 1.65 - - 2548.31 - 3.56 0.121 3473.00 362.8 112.42 - - 2034.22 - - - - - - - - - 15.94 -
18893.43 295.66 10.04 2155 18897.96 roll 1.65 - - 2548.00 - 3.26 0.059 2179.44 -396.8 112.42 - - 2034.12 - - - - - - - - - 15.96 -
19203.54 269.52 8.24 2187 19209.22 done 1.65 - - 2548.38 - 4.05 0.134 736.56 -356.3 112.42 - - 2033.78 - - - - - - - - - 15.93 -
19338.48 256.08 9.81 2214 19344.12 done 1.65 - - 2547.06 - 3.61 0.056 2222.12 411.5 112.42 - - 2031.25 - - - - - - - - - 15.95 -
19643.53 230.30 8.28 2245 19648.10 done 1.65 - - 2547.06 - 3.44 0.120 3471.94 363.3 112.42 - - 2032.84 - - - - - - - - - 15.94 -
19723.55 222.61 9.23 2261 19728.11 done 1.65 - - 2548.00 - 3.22 0.056 2179.00 -401.5 112.42 - - 2033.41 - - - - - - - - - 16.00 -
20033.57 197.38 7.63 2293 20034.90 VBD 1.65 - - 2548.62 - - - 2179.31 - 112.42 - - 2031.41 - - - - - - - - - - -
20333.63 174.79 6.73 2323 20339.22 done 1.69 - - 2547.75 - 3.56 0.117 3474.38 363.8 112.42 - - 2032.72 - - - - - - - - - 15.98 -
20558.67 156.58 8.51 2368 20563.20 done 1.69 - - 2547.56 - 3.22 0.055 2179.00 -402.3 112.42 - - 2033.00 - - - - - - - - - 16.00 -
20868.73 134.01 6.85 2400 20874.32 done 1.72 - - 2548.75 - 3.53 0.115 3472.25 366.4 112.42 - - 2032.84 - - - - - - - - - 15.97 -
20903.75 131.57 6.95 2407 20908.28 done 1.76 - - 2547.06 - 3.23 0.054 2178.50 -400.5 112.42 - - 2033.03 - - - - - - - - - 15.97 -
21213.81 113.03 5.65 2439 21249.23 1.86 0.26 0.086 2598.75 198.8 4.07 0.132 736.19 -354.4 146.62 29.24 1.249 1900.91 -4.5 0.069 - - - - - - 15.98 15.81 12.74
21473.89 91.22 7.80 2491 21479.79 roll 1.86 - - 2598.19 - 3.65 0.056 2224.50 407.8 146.62 - - 1897.16 - - - - - - - - - 15.82 -
21658.99 82.91 4.05 2528 21715.43 2.03 0.20 0.090 2641.88 218.5 4.22 0.127 736.25 -352.7 203.70 47.33 1.212 1668.47 -4.8 0.056 - - - - - - 15.90 15.67 12.76
21914.04 59.82 9.03 2579 21919.83 roll 2.03 - - 2643.19 - 3.67 0.054 2222.75 405.0 203.70 - - 1661.88 - - - - - - - - - 15.71 -
22099.16 51.48 3.23 2616 22161.60 2.24 0.25 0.078 2691.94 195.0 4.26 0.126 735.88 -349.0 272.51 56.03 1.162 1388.88 -4.9 0.036 - - - - - - 15.83 15.57 12.70
22384.42 22.95 15.73 2673 22390.18 roll 2.24 - - 2691.50 - 3.65 0.054 2222.06 407.2 272.51 - - 1383.00 - - - - - - - - - 15.63 -
22559 end climb: SURFACE_DEPTH_REACHED
22559 begin surface coast
22574 end surface coast: CONTROL_FINISHED_OK
22574 begin surface
SM 0.65 - - - - 172.9 0.14 0.187 768.5 5489.3 16.49 0.078 766.4 46.5 - 0.34 0.090 770.7 2256.0 -1.665 - - 15.43 15.68 15.82 -