NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 197 * Raw log
prev dive * next dive * dive
• Previous call tries 3 • 62.23 of 575.00 AH used of 24V (89.18% remains)
• Surface angle -63.3 deg, depth 0.92 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 425.01 (SM_CC=425)
• GPS1 time: 37 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
6.45 - - - 84.56 VBD -1.25 - - 173.94 - - - 2117.94 - -77.86 77.52 0.005 2539.44 - - - - - - - - - - 15.66
84.82 3.53 -4.40 15 116.08 -1.25 13.76 0.258 1836.81 120.8 3.70 0.123 3471.50 365.8 -77.86 6.76 0.008 2816.03 40.9 -2.988 - - - - - - 15.66 15.64 15.69
228.88 34.60 -21.56 44 234.64 roll -1.25 - - 1836.75 - 3.52 0.063 2084.69 -394.0 -77.86 - - 2817.12 - - - - - - - - - 15.78 -
414.02 65.19 -16.70 81 419.80 roll -1.25 - - 1836.56 - 4.11 0.163 663.94 -345.7 -77.86 - - 2816.34 - - - - - - - - - 15.81 -
463.99 74.55 -17.61 91 469.73 roll -1.25 - - 1836.00 - 3.53 0.055 2119.44 412.3 -77.86 - - 2816.88 - - - - - - - - - 15.85 -
649.02 96.06 -11.77 128 654.86 roll -1.25 - - 1837.00 - 4.09 0.157 663.12 -356.1 -77.86 - - 2816.25 - - - - - - - - - 15.86 -
802.91 117.25 -12.50 159 809.82 roll -1.25 - - 1837.06 - 3.56 0.058 2120.44 409.4 -77.86 - - 2816.22 - - - - - - - - - 15.91 -
1109.11 149.30 -10.69 190 1110.43 no move -1.25 - - 1837.12 - - - 2120.31 - -77.86 - - 2816.59 - - - - - - - - - - -
1409.14 182.47 -10.70 220 1414.85 roll -1.25 - - 1836.19 - 3.61 0.122 3471.62 374.3 -77.86 - - 2815.94 - - - - - - - - - 15.97 -
1534.18 198.05 -12.65 245 1538.84 roll -1.25 - - 1836.69 - 3.40 0.063 2081.06 -409.0 -77.86 - - 2816.56 - - - - - - - - - 15.99 -
1844.21 233.16 -11.11 277 1845.54 no move -1.25 - - 1837.06 - - - 2081.69 - -77.86 - - 2816.59 - - - - - - - - - - -
2144.25 266.10 -10.32 307 2145.58 no move -1.25 - - 1836.25 - - - 2081.19 - -77.86 - - 2816.91 - - - - - - - - - - -
2444.29 300.38 -11.46 337 2445.62 no move -1.25 - - 1836.81 - - - 2081.25 - -77.86 - - 2816.47 - - - - - - - - - - -
2744.47 333.40 -11.28 367 2745.80 no move -1.25 - - 1836.88 - - - 2081.50 - -77.86 - - 2816.47 - - - - - - - - - - -
3044.37 364.03 -9.84 397 3050.14 roll -1.25 - - 1836.06 - 4.01 0.166 663.00 -353.7 -77.86 - - 2816.66 - - - - - - - - - 16.04 -
3109.46 371.81 -11.86 410 3115.00 roll -1.25 - - 1836.69 - 3.53 0.063 2117.56 412.1 -77.86 - - 2815.66 - - - - - - - - - 16.07 -
3414.43 401.79 -10.15 441 3415.76 no move -1.25 - - 1836.81 - - - 2117.12 - -77.86 - - 2816.06 - - - - - - - - - - -
3714.47 429.65 -8.46 471 3715.80 no move -1.25 - - 1836.81 - - - 2117.25 - -77.86 - - 2815.25 - - - - - - - - - - -
4014.51 458.92 -9.85 501 4015.84 no move -1.25 - - 1836.62 - - - 2117.00 - -77.86 - - 2814.94 - - - - - - - - - - -
4314.57 489.06 -9.94 531 4320.27 roll -1.25 - - 1836.62 - 3.63 0.131 3473.12 373.6 -77.86 - - 2814.50 - - - - - - - - - 16.08 -
4399.67 498.80 -12.65 548 4404.25 roll -1.25 - - 1837.06 - 3.44 0.069 2084.81 -403.6 -77.86 - - 2814.66 - - - - - - - - - 16.08 -
4709.65 530.43 -9.55 580 4710.98 no move -1.25 - - 1837.00 - - - 2085.12 - -77.86 - - 2813.91 - - - - - - - - - - -
5009.70 558.30 -9.57 610 5011.03 no move -1.25 - - 1836.81 - - - 2084.88 - -77.86 - - 2813.25 - - - - - - - - - - -
5309.76 584.51 -8.68 640 5315.53 roll -1.25 - - 1836.56 - 4.07 0.177 664.06 -349.1 -77.86 - - 2810.59 - - - - - - - - - 16.07 -
5368.77 590.87 -10.00 652 5375.51 roll -1.25 - - 1837.12 - 3.48 0.067 2119.81 418.3 -77.86 - - 2812.91 - - - - - - - - - 16.09 -
5674.83 618.36 -9.11 683 5680.61 roll -1.25 - - 1836.38 - 4.18 0.174 664.06 -348.3 -77.86 - - 2810.81 - - - - - - - - - 16.07 -
5793.80 630.73 -10.34 707 5800.63 roll -1.25 - - 1836.62 - 3.55 0.066 2117.38 409.4 -77.86 - - 2811.81 - - - - - - - - - 16.10 -
6099.94 657.03 -8.49 738 6105.70 roll -1.25 - - 1836.75 - 4.10 0.174 663.06 -354.7 -77.86 - - 2810.72 - - - - - - - - - 16.06 -
6178.88 664.88 -11.22 754 6185.72 roll -1.25 - - 1836.75 - 3.54 0.069 2115.81 410.4 -77.86 - - 2811.94 - - - - - - - - - 16.10 -
6485.01 691.15 -8.76 785 6490.78 roll -1.25 - - 1835.50 - 4.16 0.176 663.19 -349.2 -77.86 - - 2812.38 - - - - - - - - - 16.06 -
6530.03 695.59 -10.39 794 6534.70 roll -1.25 - - 1836.75 - 3.54 0.069 2116.75 410.6 -77.86 - - 2809.84 - - - - - - - - - 16.10 -
6840.07 720.37 -7.14 826 6841.40 no move -1.25 - - 1836.56 - - - 2116.31 - -77.86 - - 2809.34 - - - - - - - - - - -
7140.10 744.33 -7.44 856 7141.43 no move -1.25 - - 1836.75 - - - 2117.06 - -77.86 - - 2807.84 - - - - - - - - - - -
7440.15 767.83 -7.90 886 7441.48 no move -1.25 - - 1836.75 - - - 2116.44 - -77.86 - - 2807.34 - - - - - - - - - - -
7740.19 792.50 -8.62 916 7741.52 no move -1.25 - - 1836.88 - - - 2116.62 - -77.86 - - 2807.44 - - - - - - - - - - -
8040.23 817.71 -7.54 946 8045.93 roll -1.25 - - 1835.62 - 3.67 0.140 3471.94 369.3 -77.86 - - 2808.81 - - - - - - - - - 16.09 -
8145.25 827.61 -8.27 967 8149.91 roll -1.25 - - 1836.81 - 3.45 0.077 2086.19 -401.7 -77.86 - - 2808.19 - - - - - - - - - 16.10 -
8455.29 855.88 -9.74 999 8456.62 no move -1.25 - - 1836.69 - - - 2085.19 - -77.86 - - 2805.78 - - - - - - - - - - -
8755.33 882.50 -8.90 1029 8761.05 roll -1.25 - - 1836.50 - 3.74 0.137 3473.12 371.1 -77.86 - - 2807.28 - - - - - - - - - 16.10 -
8804.27 887.48 -9.13 1039 8811.09 roll -1.25 - - 1835.75 - 3.51 0.076 2086.25 -395.1 -77.86 - - 2809.06 - - - - - - - - - 16.11 -
9110.39 911.49 -8.48 1070 9116.16 roll -1.25 - - 1836.19 - 4.14 0.187 663.81 -343.6 -77.86 - - 2807.81 - - - - - - - - - 16.06 -
9215.41 921.00 -10.12 1091 9221.11 roll -1.25 - - 1835.44 - 3.63 0.074 2114.62 399.7 -77.86 - - 2807.50 - - - - - - - - - 16.11 -
9520.44 942.91 -8.77 1122 9521.77 no move -1.25 - - 1836.31 - - - 2115.44 - -77.86 - - 2805.12 - - - - - - - - - - -
9820.48 955.03 -2.39 1152 9826.25 roll -1.25 - - 1835.88 - 4.11 0.181 662.81 -353.4 -77.86 - - 2806.44 - - - - - - - - - 16.06 -
10049.55 954.95 0.19 1198 10056.31 roll -1.25 - - 1836.81 - 3.56 0.069 2116.31 408.3 -77.86 - - 2806.12 - - - - - - - - - 16.10 -
10075 end dive: NO_VERTICAL_VELOCITY
10075 begin apogee
10076.80 954.69 - 1201 10142.31 -0.25 1.68 0.122 2080.56 145.1 0.08 0.304 2184.81 856.2 - 62.79 2.261 2500.59 -4.9 0.340 - - - - - - 16.06 15.60 12.99
10143 end apogee: CONTROL_FINISHED_OK
10143 begin climb
10143.76 955.36 - 1207 10223.63 1.25 2.51 0.097 2448.25 146.5 3.71 0.138 3472.00 347.0 77.86 70.88 2.200 2181.22 -4.5 0.324 - - - - - - 15.65 15.25 12.80
10361.41 937.19 9.68 1250 10365.98 done 1.25 - - 2448.00 - 3.32 0.066 2183.69 -388.0 77.86 - - 2172.47 - - - - - - - - - 15.55 -
10671.47 907.20 10.41 1282 10672.80 VBD 1.25 - - 2447.06 - - - 2184.06 - 77.86 - - 2166.88 - - - - - - - - - - -
10971.49 879.22 9.54 1312 10977.25 done 1.25 - - 2447.38 - 4.14 0.156 736.19 -349.7 77.86 - - 2165.31 - - - - - - - - - 15.82 -
11066.49 869.32 11.60 1331 11072.13 done 1.25 - - 2448.00 - 3.65 0.062 2216.88 405.7 77.86 - - 2165.00 - - - - - - - - - 15.86 -
11371.58 841.24 7.64 1362 11372.91 VBD 1.25 - - 2447.62 - - - 2217.44 - 77.86 - - 2162.41 - - - - - - - - - - -
11671.64 814.69 8.68 1392 11677.24 done 1.25 - - 2447.06 - 3.50 0.137 3472.50 358.6 77.86 - - 2161.41 - - - - - - - - - 15.94 -
11760.59 806.33 8.86 1410 11767.38 done 1.25 - - 2446.19 - 3.21 0.065 2181.56 -402.2 77.86 - - 2164.84 - - - - - - - - - 15.95 -
12066.75 779.52 8.96 1441 12068.08 VBD 1.25 - - 2447.44 - - - 2181.75 - 77.86 - - 2160.88 - - - - - - - - - - -
12366.81 753.57 8.41 1471 12371.55 done 1.25 - - 2446.88 - 3.56 0.135 3470.81 362.1 77.86 - - 2162.19 - - - - - - - - - 15.99 -
12597.02 731.14 9.87 1517 12601.58 done 1.25 - - 2447.75 - 3.19 0.066 2182.88 -403.7 77.86 - - 2162.38 - - - - - - - - - 16.00 -
12906.98 703.65 8.96 1549 12912.58 done 1.25 - - 2446.06 - 3.57 0.134 3471.94 361.1 77.86 - - 2160.62 - - - - - - - - - 16.01 -
13115.90 685.37 7.82 1591 13122.73 done 1.25 - - 2447.00 - 3.17 0.064 2182.12 -406.9 77.86 - - 2162.91 - - - - - - - - - 16.03 -
13422.08 661.19 7.91 1622 13427.92 done 1.25 - - 2447.31 - 4.01 0.151 736.12 -360.6 77.86 - - 2159.94 - - - - - - - - - 16.02 -
13527.11 651.57 9.35 1643 13532.73 done 1.25 - - 2446.94 - 3.61 0.060 2217.75 410.4 77.86 - - 2161.47 - - - - - - - - - 16.04 -
13832.17 628.93 7.14 1674 13837.92 done 1.28 - - 2447.75 - 4.12 0.148 736.12 -359.6 77.86 - - 2159.00 - - - - - - - - - 16.02 -
13957.18 618.75 8.17 1699 13962.81 done 1.28 - - 2447.06 - 3.59 0.060 2219.50 413.2 77.86 - - 2157.53 - - - - - - - - - 16.05 -
14262.23 600.10 6.02 1730 14293.58 done 1.37 - - 2446.94 - 4.14 0.149 737.31 -358.0 106.77 23.69 1.770 2063.50 -4.0 0.223 - - - - - - - 15.86 12.99
14322.24 596.04 5.91 1740 14357.51 1.46 0.28 0.088 2502.62 198.9 3.61 0.057 2220.56 410.9 137.30 29.11 1.767 1939.50 -4.3 0.238 - - - - - - 15.90 15.93 13.02
14662.45 557.69 11.40 1778 14663.78 no move 1.46 - - 2502.56 - - - 2220.38 - 137.30 - - 1931.56 - - - - - - - - - - -
14962.28 524.39 11.21 1808 14963.61 VBD 1.46 - - 2502.44 - - - 2221.06 - 137.30 - - 1930.38 - - - - - - - - - - -
15262.31 489.72 10.85 1838 15268.09 done 1.46 - - 2503.00 - 4.15 0.146 737.56 -357.5 137.30 - - 1929.12 - - - - - - - - - 15.93 -
15357.35 476.74 14.13 1857 15362.94 done 1.46 - - 2501.31 - 3.60 0.059 2220.75 412.0 137.30 - - 1930.88 - - - - - - - - - 15.95 -
15662.40 440.83 12.31 1888 15663.73 VBD 1.46 - - 2502.69 - - - 2221.38 - 137.30 - - 1929.09 - - - - - - - - - - -
15962.40 405.26 11.71 1918 15963.74 VBD 1.46 - - 2502.50 - - - 2221.62 - 137.30 - - 1927.44 - - - - - - - - - - -
16262.43 371.33 11.76 1948 16263.77 VBD 1.46 - - 2502.38 - - - 2221.62 - 137.30 - - 1927.44 - - - - - - - - - - -
16562.47 337.80 10.94 1978 16563.80 VBD 1.46 - - 2501.94 - - - 2221.56 - 137.30 - - 1927.22 - - - - - - - - - - -
16862.51 304.82 10.38 2008 16868.29 done 1.46 - - 2502.56 - 4.11 0.142 737.31 -361.1 137.30 - - 1927.44 - - - - - - - - - 16.01 -
16957.55 292.82 12.68 2027 16963.16 done 1.46 - - 2502.81 - 3.54 0.059 2220.38 418.9 137.30 - - 1926.88 - - - - - - - - - 16.04 -
17262.63 261.65 9.89 2058 17263.97 VBD 1.46 - - 2502.12 - - - 2221.19 - 137.30 - - 1926.72 - - - - - - - - - - -
17562.68 231.67 10.13 2088 17568.44 done 1.46 - - 2503.31 - 4.09 0.139 737.12 -362.9 137.30 - - 1926.94 - - - - - - - - - 16.03 -
17661.56 219.91 11.48 2108 17668.48 done 1.46 - - 2502.50 - 3.53 0.057 2222.56 420.8 137.30 - - 1928.84 - - - - - - - - - 16.03 -
17967.79 190.02 9.01 2139 17969.12 VBD 1.46 - - 2502.56 - - - 2222.38 - 137.30 - - 1927.62 - - - - - - - - - - -
18267.86 162.32 9.73 2169 18269.19 VBD 1.46 - - 2502.75 - - - 2222.19 - 137.30 - - 1925.88 - - - - - - - - - - -
18567.94 134.53 9.29 2199 18572.50 done 1.46 - - 2502.88 - 3.33 0.123 3473.38 375.7 137.30 - - 1927.53 - - - - - - - - - 16.03 -
18651.89 125.79 10.53 2216 18658.65 done 1.46 - - 2503.31 - 3.13 0.056 2178.31 -413.8 137.30 - - 1927.31 - - - - - - - - - 16.01 -
18958.02 98.57 8.13 2249 18963.76 done 1.46 - - 2503.25 - 3.44 0.119 3473.62 376.5 137.30 - - 1927.28 - - - - - - - - - 16.01 -
19188.08 82.42 6.17 2295 19193.75 done 1.51 - - 2502.75 - 3.16 0.057 2177.25 -410.2 137.30 - - 1927.19 - - - - - - - - - 16.04 -
19373.13 77.49 2.33 2332 19445.50 1.76 0.41 0.079 2576.00 178.7 3.52 0.118 3473.31 368.2 218.95 64.25 1.215 1605.28 -5.0 0.053 - - - - - - 16.02 15.74 13.05
19638.32 56.63 7.88 2385 19643.99 roll 1.76 - - 2576.88 - 3.18 0.056 2178.19 -407.3 218.95 - - 1599.91 - - - - - - - - - 15.85 -
19823.37 44.35 6.80 2422 19829.17 done 1.80 - - 2575.06 - 3.98 0.139 737.50 -362.0 218.95 - - 1599.56 - - - - - - - - - 15.87 -
20023.42 31.37 3.68 2462 20080.27 1.98 0.28 0.083 2628.88 192.2 3.58 0.056 2226.31 415.9 281.34 50.88 1.123 1353.50 -4.8 0.022 - - - - - - 15.88 15.91 12.94
20258.44 22.04 7.61 2509 20259.77 no move 1.98 - - 2628.50 - - - 2225.69 - 281.34 - - 1346.22 - - - - - - - - - - -
20438.47 4.37 10.00 2545 20444.23 roll 1.98 - - 2629.38 - 3.42 0.120 3473.12 364.7 281.34 - - 1345.22 - - - - - - - - - 15.81 -
20463 end climb: SURFACE_DEPTH_REACHED
20463 begin surface coast
20483 end surface coast: CONTROL_FINISHED_OK
20483 begin surface
SM 0.72 - - - - 175.4 - 0.012 767.4 - 15.53 0.059 770.3 49.6 - 3.39 0.059 764.5 224.5 -0.280 - - 30.36 15.84 15.85 -