NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 344 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 105.59 of 575.00 AH used of 24V (81.64% remains)
• Surface angle -58.7 deg, depth 0.60 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 425.01 (SM_CC=425)
• GPS1 time: 36 s
• GPS2 time: 5 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
6.92 - - - 85.02 VBD -1.25 - - 172.81 - - - 2116.75 - -77.86 77.45 0.005 2472.62 - - - - - - - - - - 15.57
85.28 3.38 -4.16 15 117.06 -1.25 13.86 0.259 1835.56 120.0 3.82 0.118 3472.31 354.9 -77.86 8.80 0.007 2816.12 39.0 -3.134 - - - - - - 15.61 15.54 15.58
184.82 24.84 -21.19 35 190.58 roll -1.25 - - 1836.25 - 3.59 0.063 2084.12 -386.7 -77.86 - - 2816.09 - - - - - - - - - 15.72 -
369.91 60.72 -16.50 72 375.69 roll -1.25 - - 1835.25 - 3.79 0.113 3474.38 366.8 -77.86 - - 2817.88 - - - - - - - - - 15.80 -
410.00 67.52 -17.34 80 415.68 roll -1.25 - - 1835.88 - 3.53 0.060 2083.31 -394.1 -77.86 - - 2817.78 - - - - - - - - - 15.83 -
595.00 94.01 -11.98 117 600.79 roll -1.25 - - 1835.69 - 3.79 0.112 3473.31 366.8 -77.86 - - 2815.97 - - - - - - - - - 15.85 -
640.03 99.78 -13.39 126 645.76 roll -1.25 - - 1835.81 - 3.48 0.058 2081.44 -400.0 -77.86 - - 2817.34 - - - - - - - - - 15.86 -
825.13 122.59 -12.58 145 830.82 roll -1.25 - - 1835.81 - 4.07 0.156 664.12 -348.2 -77.86 - - 2816.06 - - - - - - - - - 15.80 -
940.10 137.91 -13.15 168 944.78 roll -1.25 - - 1836.00 - 3.57 0.053 2115.94 406.7 -77.86 - - 2815.75 - - - - - - - - - 15.86 -
1250.16 171.88 -11.13 200 1251.49 no move -1.25 - - 1835.50 - - - 2119.69 - -77.86 - - 2816.84 - - - - - - - - - - -
1550.19 205.24 -11.42 230 1551.52 no move -1.25 - - 1835.19 - - - 2119.81 - -77.86 - - 2817.12 - - - - - - - - - - -
1850.25 237.62 -10.43 260 1851.57 no move -1.25 - - 1835.12 - - - 2119.88 - -77.86 - - 2817.09 - - - - - - - - - - -
2150.27 268.97 -10.49 290 2156.04 roll -1.25 - - 1835.44 - 4.18 0.157 664.50 -348.2 -77.86 - - 2818.38 - - - - - - - - - 15.90 -
2199.22 274.99 -12.32 300 2206.04 roll -1.25 - - 1835.56 - 3.57 0.056 2119.12 407.5 -77.86 - - 2817.91 - - - - - - - - - 15.95 -
2505.32 306.29 -10.20 331 2506.64 no move -1.25 - - 1835.31 - - - 2119.12 - -77.86 - - 2816.72 - - - - - - - - - - -
2805.34 336.18 -10.17 361 2806.67 no move -1.25 - - 1835.56 - - - 2119.62 - -77.86 - - 2816.44 - - - - - - - - - - -
3105.38 365.25 -9.50 391 3106.71 no move -1.25 - - 1836.06 - - - 2118.88 - -77.86 - - 2816.41 - - - - - - - - - - -
3405.41 393.75 -9.52 421 3406.74 no move -1.25 - - 1835.56 - - - 2118.81 - -77.86 - - 2816.56 - - - - - - - - - - -
3705.45 422.29 -9.09 451 3711.23 roll -1.25 - - 1835.12 - 4.20 0.160 663.50 -346.5 -77.86 - - 2816.50 - - - - - - - - - 15.94 -
3770.54 429.36 -11.65 464 3776.14 roll -1.25 - - 1835.94 - 3.59 0.058 2119.06 405.4 -77.86 - - 2814.50 - - - - - - - - - 15.98 -
4075.50 457.00 -8.76 495 4076.82 no move -1.25 - - 1835.75 - - - 2117.56 - -77.86 - - 2815.81 - - - - - - - - - - -
4375.55 485.26 -10.14 525 4376.88 no move -1.25 - - 1835.75 - - - 2118.62 - -77.86 - - 2815.22 - - - - - - - - - - -
4675.56 514.89 -10.38 555 4676.89 no move -1.25 - - 1835.19 - - - 2118.56 - -77.86 - - 2815.12 - - - - - - - - - - -
4975.60 545.98 -11.26 585 4981.40 roll -1.25 - - 1835.38 - 4.22 0.166 663.38 -344.8 -77.86 - - 2815.31 - - - - - - - - - 15.94 -
5044.53 554.52 -12.34 599 5051.39 roll -1.25 - - 1835.75 - 3.61 0.062 2117.62 402.8 -77.86 - - 2815.25 - - - - - - - - - 15.99 -
5350.65 587.13 -10.46 630 5351.98 no move -1.25 - - 1835.62 - - - 2117.88 - -77.86 - - 2812.94 - - - - - - - - - - -
5650.70 617.04 -9.33 660 5652.03 no move -1.25 - - 1835.12 - - - 2117.44 - -77.86 - - 2813.84 - - - - - - - - - - -
5950.76 645.40 -9.36 690 5952.09 no move -1.25 - - 1835.62 - - - 2117.44 - -77.86 - - 2813.97 - - - - - - - - - - -
6250.82 671.06 -9.22 720 6256.62 roll -1.25 - - 1834.75 - 4.23 0.171 664.75 -343.4 -77.86 - - 2816.00 - - - - - - - - - 15.94 -
6305.91 676.52 -9.93 731 6311.54 roll -1.25 - - 1835.88 - 3.62 0.064 2115.88 400.9 -77.86 - - 2814.84 - - - - - - - - - 15.99 -
6610.91 704.63 -9.09 762 6612.23 no move -1.25 - - 1835.25 - - - 2115.69 - -77.86 - - 2812.56 - - - - - - - - - - -
6910.96 732.82 -10.35 792 6916.75 roll -1.25 - - 1835.19 - 4.17 0.171 662.69 -348.4 -77.86 - - 2810.81 - - - - - - - - - 15.94 -
6996.00 741.83 -11.20 809 7001.70 roll -1.25 - - 1834.81 - 3.63 0.065 2113.62 399.7 -77.86 - - 2812.72 - - - - - - - - - 16.00 -
7301.06 769.33 -8.97 840 7302.39 no move -1.25 - - 1835.31 - - - 2113.88 - -77.86 - - 2811.44 - - - - - - - - - - -
7601.12 795.30 -9.18 870 7606.92 roll -1.25 - - 1835.12 - 4.20 0.174 663.38 -345.4 -77.86 - - 2812.09 - - - - - - - - - 15.93 -
7700.07 805.17 -11.34 890 7706.93 roll -1.25 - - 1835.25 - 3.64 0.069 2114.44 398.6 -77.86 - - 2812.50 - - - - - - - - - 16.00 -
8006.19 829.73 -7.79 921 8011.97 roll -1.25 - - 1835.44 - 4.20 0.173 663.62 -345.4 -77.86 - - 2809.81 - - - - - - - - - 15.93 -
8081.21 837.14 -9.46 936 8086.91 roll -1.25 - - 1835.31 - 3.63 0.068 2115.44 400.0 -77.86 - - 2811.25 - - - - - - - - - 15.99 -
8386.25 860.87 -8.24 967 8392.04 roll -1.25 - - 1835.19 - 4.20 0.174 663.38 -345.7 -77.86 - - 2810.66 - - - - - - - - - 15.92 -
8441.33 865.61 -9.53 978 8446.97 roll -1.25 - - 1835.44 - 3.61 0.069 2113.62 401.7 -77.86 - - 2811.09 - - - - - - - - - 15.99 -
8746.29 889.50 -8.91 1009 8752.09 roll -1.25 - - 1834.56 - 4.26 0.175 664.44 -340.2 -77.86 - - 2810.53 - - - - - - - - - 15.92 -
8835.23 897.48 -8.69 1027 8842.09 roll -1.25 - - 1835.00 - 3.65 0.070 2113.94 397.1 -77.86 - - 2811.56 - - - - - - - - - 15.98 -
9141.35 921.17 -9.46 1058 9142.67 no move -1.25 - - 1834.62 - - - 2113.56 - -77.86 - - 2809.44 - - - - - - - - - - -
9441.38 945.04 -8.07 1088 9442.70 no move -1.25 - - 1834.44 - - - 2113.94 - -77.86 - - 2811.25 - - - - - - - - - - -
9741.42 969.96 -8.39 1118 9742.74 no move -1.25 - - 1835.81 - - - 2113.38 - -77.86 - - 2809.94 - - - - - - - - - - -
9991 end dive: TARGET_DEPTH_EXCEEDED
9991 begin apogee
9992.75 990.59 -9.13 1143 10063.22 -0.25 1.73 0.146 2079.00 140.6 0.07 0.308 2186.31 1041.9 - 64.98 2.309 2500.09 -4.8 0.340 - - - - - - 15.97 15.57 12.68
10064 end apogee: CONTROL_FINISHED_OK
10064 begin climb
10064.99 992.67 - 1150 10143.32 1.25 2.52 0.088 2449.19 146.9 - - 2185.38 - 77.86 71.57 2.251 2180.97 -4.5 0.327 - - - - - - 15.60 - 12.77
10441.49 965.29 8.58 1188 10442.82 VBD 1.25 - - 2448.38 - - - 2185.88 - 77.86 - - 2170.19 - - - - - - - - - - -
10741.51 939.35 7.80 1218 10742.85 VBD 1.25 - - 2448.44 - - - 2185.88 - 77.86 - - 2166.44 - - - - - - - - - - -
11041.55 914.77 7.75 1248 11047.18 done 1.25 - - 2448.69 - 3.66 0.137 3473.19 351.7 77.86 - - 2165.72 - - - - - - - - - 15.79 -
11156.56 903.52 9.93 1271 11161.27 done 1.25 - - 2448.38 - 3.31 0.068 2184.19 -389.4 77.86 - - 2167.12 - - - - - - - - - 15.80 -
11466.60 877.02 7.90 1303 11467.93 VBD 1.25 - - 2448.31 - - - 2184.94 - 77.86 - - 2165.19 - - - - - - - - - - -
11766.63 851.75 7.90 1333 11772.41 done 1.25 - - 2448.06 - 4.14 0.153 736.12 -350.0 77.86 - - 2162.81 - - - - - - - - - 15.85 -
11875.61 841.20 10.16 1355 11882.57 done 1.25 - - 2447.56 - 3.68 0.063 2216.75 402.3 77.86 - - 2163.41 - - - - - - - - - 15.88 -
12181.73 815.85 7.62 1386 12183.06 VBD 1.25 - - 2448.56 - - - 2216.88 - 77.86 - - 2162.47 - - - - - - - - - - -
12481.81 792.87 6.89 1416 12487.57 done 1.29 - - 2448.38 - 4.20 0.150 738.19 -352.1 77.86 - - 2160.69 - - - - - - - - - 15.88 -
12590.75 782.98 8.29 1438 12597.61 done 1.29 - - 2448.31 - 3.66 0.061 2218.56 404.5 77.86 - - 2163.06 - - - - - - - - - 15.93 -
12896.91 759.32 8.74 1469 12898.24 VBD 1.29 - - 2448.75 - - - 2218.62 - 77.86 - - 2161.66 - - - - - - - - - - -
13196.96 736.27 8.15 1499 13198.30 VBD 1.29 - - 2449.06 - - - 2218.81 - 77.86 - - 2160.03 - - - - - - - - - - -
13497.03 712.85 7.68 1529 13502.64 done 1.29 - - 2448.12 - 3.53 0.134 3472.06 355.0 77.86 - - 2161.09 - - - - - - - - - 15.93 -
13572.07 706.17 8.24 1544 13576.61 done 1.29 - - 2448.44 - 3.24 0.063 2181.12 -398.4 77.86 - - 2162.88 - - - - - - - - - 15.95 -
13882.16 682.04 7.80 1576 13883.49 VBD 1.29 - - 2448.69 - - - 2181.06 - 77.86 - - 2161.88 - - - - - - - - - - -
14182.18 661.27 6.97 1606 14187.79 done 1.32 - - 2448.56 - 3.62 0.128 3473.00 356.9 77.86 - - 2160.72 - - - - - - - - - 15.93 -
14257.26 655.83 7.49 1621 14261.73 done 1.34 - - 2448.94 - 3.25 0.063 2180.31 -397.8 77.86 - - 2161.59 - - - - - - - - - 15.96 -
14567.23 635.85 6.10 1653 14568.70 1.39 0.18 0.109 2489.31 224.3 - - 2180.19 - 77.86 - - 2160.69 - - - - - - - - 15.98 - -
14867.26 615.63 6.16 1683 14873.03 done 1.45 - - 2489.69 - 4.07 0.146 736.19 -354.8 77.86 - - 2159.22 - - - - - - - - - 15.93 -
14956.17 607.88 8.01 1701 14963.05 done 1.45 - - 2489.88 - 3.69 0.061 2217.56 401.5 77.86 - - 2162.41 - - - - - - - - - 15.96 -
15262.32 587.53 6.37 1732 15263.65 VBD 1.50 - - 2489.38 - - - 2217.00 - 77.86 - - 2160.28 - - - - - - - - - - -
15562.35 566.80 6.98 1762 15563.68 VBD 1.53 - - 2489.94 - - - 2217.25 - 77.86 - - 2160.47 - - - - - - - - - - -
15862.38 545.44 7.61 1792 15868.17 done 1.53 - - 2490.75 - 4.16 0.142 736.06 -356.1 77.86 - - 2158.00 - - - - - - - - - 15.92 -
15961.23 537.25 8.53 1812 15968.17 done 1.53 - - 2490.25 - 3.68 0.059 2218.31 402.8 77.86 - - 2160.47 - - - - - - - - - 15.97 -
16267.45 514.85 7.22 1843 16273.07 1.56 0.17 0.095 2526.62 213.9 3.49 0.128 3471.50 359.1 77.86 - - 2160.41 - - - - - - - - 16.01 15.96 -
16366.35 506.13 8.58 1863 16373.15 done 1.56 - - 2527.81 - 3.22 0.060 2179.69 -401.2 77.86 - - 2159.50 - - - - - - - - - 15.96 -
16672.49 483.98 7.28 1894 16673.82 VBD 1.58 - - 2526.81 - - - 2180.31 - 77.86 - - 2160.47 - - - - - - - - - - -
16972.52 465.16 5.87 1924 16999.52 VBD 1.67 - - 2527.19 - - - 2180.19 - 108.97 25.52 1.648 2052.47 -4.2 0.199 - - - - - - - - 12.64
17292.54 437.30 9.55 1956 17298.17 roll 1.67 - - 2527.12 - 3.67 0.123 3475.19 352.9 108.97 - - 2048.22 - - - - - - - - - 15.86 -
17397.56 425.98 9.57 1977 17402.11 roll 1.67 - - 2526.62 - 3.27 0.060 2180.75 -395.9 108.97 - - 2050.38 - - - - - - - - - 15.87 -
17707.59 396.87 9.72 2009 17708.92 no move 1.67 - - 2527.12 - - - 2181.00 - 108.97 - - 2048.38 - - - - - - - - - - -
18007.62 369.54 8.47 2039 18008.95 no move 1.67 - - 2527.50 - - - 2180.94 - 108.97 - - 2047.44 - - - - - - - - - - -
18307.67 343.61 8.23 2069 18308.99 no move 1.67 - - 2527.12 - - - 2180.94 - 108.97 - - 2047.12 - - - - - - - - - - -
18607.72 318.40 8.00 2099 18613.35 roll 1.67 - - 2526.56 - 3.62 0.122 3472.38 356.8 108.97 - - 2049.41 - - - - - - - - - 15.90 -
18646.59 314.42 9.95 2107 18653.45 roll 1.67 - - 2527.81 - 3.23 0.058 2178.88 -400.5 108.97 - - 2048.16 - - - - - - - - - 15.94 -
18952.79 288.88 7.91 2138 18958.42 done 1.67 - - 2527.62 - 3.61 0.119 3472.12 358.2 108.97 - - 2046.03 - - - - - - - - - 15.93 -
19027.84 282.17 9.01 2153 19032.38 roll 1.67 - - 2527.00 - 3.27 0.058 2178.56 -395.6 108.97 - - 2047.62 - - - - - - - - - 15.93 -
19337.92 260.73 6.22 2185 19339.39 pitch 1.73 0.19 0.105 2566.88 209.9 - - 2179.88 - 108.97 - - 2046.16 - - - - - - - - 15.98 - -
19637.97 239.49 7.28 2215 19643.59 roll 1.75 - - 2567.56 - 3.60 0.118 3471.38 358.8 108.97 - - 2045.94 - - - - - - - - - 15.95 -
19763.00 229.21 8.36 2240 19767.56 roll 1.75 - - 2567.69 - 3.26 0.057 2178.12 -396.7 108.97 - - 2048.16 - - - - - - - - - 15.94 -
20073.30 206.32 7.72 2272 20074.63 no move 1.75 - - 2567.38 - - - 2177.56 - 108.97 - - 2047.78 - - - - - - - - - - -
20373.13 184.04 7.79 2302 20378.77 roll 1.75 - - 2567.19 - 3.62 0.118 3472.25 357.6 108.97 - - 2047.34 - - - - - - - - - 15.92 -
20602.06 164.12 8.81 2348 20608.92 roll 1.75 - - 2567.69 - 3.28 0.056 2178.94 -394.3 108.97 - - 2048.41 - - - - - - - - - 15.91 -
20908.26 142.52 6.32 2379 20914.00 done 1.80 - - 2566.25 - 4.09 0.134 737.00 -352.6 108.97 - - 2049.81 - - - - - - - - - 15.88 -
21033.28 133.22 7.74 2404 21038.90 done 1.80 - - 2567.94 - 3.65 0.055 2223.88 407.4 108.97 - - 2045.34 - - - - - - - - - 15.91 -
21338.34 115.93 4.64 2435 21380.26 1.95 0.28 0.083 2623.19 197.3 - - 2223.56 - 157.70 40.74 1.269 1854.94 -4.7 0.071 - - - - - - 15.97 - 12.66
21678.37 86.25 8.33 2484 21684.12 roll 1.95 - - 2623.56 - 3.51 0.119 3472.19 355.7 157.70 - - 1851.47 - - - - - - - - - 15.78 -
21833.42 75.91 5.54 2515 21869.97 done 2.06 - - 2623.50 - 3.26 0.054 2175.75 -397.7 193.57 30.22 1.191 1709.88 -4.7 0.050 - - - - - - - 15.82 12.61
22048.47 61.40 7.03 2558 22049.80 no move 2.09 - - 2622.88 - - - 2175.38 - 193.57 - - 1704.34 - - - - - - - - - - -
22228.50 50.00 4.38 2594 22280.37 2.25 0.39 0.073 2693.62 181.4 4.11 0.131 735.19 -350.4 245.88 43.62 1.161 1497.22 -4.7 0.034 - - - - - - 15.84 15.62 12.78
22413.56 42.29 7.52 2631 22419.31 roll 2.26 - - 2693.19 - 3.75 0.054 2222.88 396.7 245.88 - - 1493.00 - - - - - - - - - 15.67 -
22598.57 27.15 8.96 2668 22599.89 no move 2.26 - - 2693.06 - - - 2222.31 - 245.88 - - 1491.47 - - - - - - - - - - -
22778.60 9.98 9.62 2704 22779.93 no move 2.26 - - 2693.44 - - - 2222.44 - 245.88 - - 1489.22 - - - - - - - - - - -
22858 end climb: SURFACE_DEPTH_REACHED
22858 begin surface coast
22873 end surface coast: CONTROL_FINISHED_OK
22873 begin surface
SM 0.69 - - - - 174.0 - - 767.4 - 16.62 0.087 767.1 46.2 - 0.34 0.096 767.6 2257.6 -1.658 - - 30.00 15.72 15.86 -