NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 317 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 97.27 of 575.00 AH used of 24V (83.08% remains)
• Surface angle -62.1 deg, depth 0.85 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.77 (SM_CC=425)
• GPS1 time: 27 s
• GPS2 time: 4 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
6 end surface: CONTROL_FINISHED_OK
6 begin dive
6.88 - - - 80.03 VBD -1.25 - - 174.19 - - - 2116.75 - -77.86 72.53 0.005 2369.19 - - - - - - - - - - 15.57
80.29 3.01 -3.81 14 116.73 -1.25 13.99 0.264 1835.88 118.8 3.75 0.115 3474.69 362.1 -77.86 11.99 0.007 2815.47 37.2 -2.700 - - - - - - 15.61 15.55 15.60
339.52 60.18 -22.03 66 345.31 roll -1.25 - - 1835.69 - 3.58 0.062 2083.88 -388.5 -77.86 - - 2817.75 - - - - - - - - - 15.79 -
524.58 88.58 -13.24 103 525.91 no move -1.25 - - 1835.56 - - - 2084.00 - -77.86 - - 2816.56 - - - - - - - - - - -
704.61 109.39 -11.45 131 710.34 roll -1.25 - - 1835.94 - 3.83 0.114 3473.62 362.8 -77.86 - - 2818.12 - - - - - - - - - 15.87 -
753.47 115.58 -12.19 141 760.38 roll -1.25 - - 1835.81 - 3.56 0.060 2083.75 -390.4 -77.86 - - 2816.41 - - - - - - - - - 15.89 -
1059.66 150.99 -11.94 172 1060.99 no move -1.25 - - 1835.38 - - - 2082.94 - -77.86 - - 2817.28 - - - - - - - - - - -
1359.68 185.89 -12.12 202 1361.02 no move -1.25 - - 1836.00 - - - 2082.50 - -77.86 - - 2815.78 - - - - - - - - - - -
1659.74 219.36 -11.39 232 1661.07 no move -1.25 - - 1835.44 - - - 2082.88 - -77.86 - - 2817.25 - - - - - - - - - - -
1959.80 252.46 -11.49 262 1965.57 roll -1.25 - - 1834.94 - 4.10 0.161 663.12 -346.3 -77.86 - - 2817.97 - - - - - - - - - 15.96 -
2064.84 265.61 -13.23 283 2070.45 roll -1.25 - - 1835.62 - 3.60 0.057 2117.94 404.1 -77.86 - - 2815.41 - - - - - - - - - 16.00 -
2369.91 298.52 -10.69 314 2371.24 no move -1.25 - - 1835.75 - - - 2117.75 - -77.86 - - 2817.31 - - - - - - - - - - -
2669.98 330.20 -10.87 344 2675.75 roll -1.25 - - 1835.44 - 4.20 0.158 662.94 -346.4 -77.86 - - 2816.53 - - - - - - - - - 15.99 -
2725.07 337.32 -12.78 355 2730.68 roll -1.25 - - 1836.06 - 3.56 0.056 2119.25 409.1 -77.86 - - 2817.47 - - - - - - - - - 16.02 -
3030.06 367.32 -9.59 386 3035.84 roll -1.25 - - 1834.50 - 4.18 0.158 663.44 -348.3 -77.86 - - 2819.28 - - - - - - - - - 16.00 -
3075.09 372.11 -10.67 395 3080.76 roll -1.25 - - 1835.44 - 3.55 0.058 2118.75 409.9 -77.86 - - 2814.78 - - - - - - - - - 16.03 -
3380.14 400.17 -8.99 426 3381.47 no move -1.25 - - 1835.62 - - - 2118.50 - -77.86 - - 2816.91 - - - - - - - - - - -
3680.20 427.46 -8.59 456 3685.88 roll -1.25 - - 1835.75 - 3.65 0.124 3471.94 370.8 -77.86 - - 2817.38 - - - - - - - - - 16.02 -
3739.14 433.41 -9.78 468 3745.95 roll -1.25 - - 1835.88 - 3.46 0.065 2083.06 -401.4 -77.86 - - 2818.31 - - - - - - - - - 16.05 -
4045.25 463.22 -9.96 499 4046.57 no move -1.25 - - 1835.75 - - - 2083.12 - -77.86 - - 2816.31 - - - - - - - - - - -
4345.28 494.09 -11.09 529 4346.61 no move -1.25 - - 1835.88 - - - 2083.44 - -77.86 - - 2816.00 - - - - - - - - - - -
4645.32 525.88 -10.06 559 4651.08 roll -1.25 - - 1835.88 - 4.06 0.168 664.56 -349.5 -77.86 - - 2815.91 - - - - - - - - - 16.02 -
4710.40 533.37 -11.82 572 4716.00 roll -1.25 - - 1835.44 - 3.56 0.062 2116.25 407.8 -77.86 - - 2814.88 - - - - - - - - - 16.05 -
5015.36 562.36 -9.44 603 5016.69 no move -1.25 - - 1835.62 - - - 2115.88 - -77.86 - - 2815.19 - - - - - - - - - - -
5315.39 589.11 -9.02 633 5316.72 no move -1.25 - - 1835.44 - - - 2116.56 - -77.86 - - 2814.84 - - - - - - - - - - -
5615.43 615.00 -8.58 663 5616.76 no move -1.25 - - 1835.75 - - - 2116.38 - -77.86 - - 2814.38 - - - - - - - - - - -
5915.46 642.20 -9.48 693 5916.79 no move -1.25 - - 1836.00 - - - 2116.81 - -77.86 - - 2812.34 - - - - - - - - - - -
6215.50 669.53 -8.20 723 6216.83 no move -1.25 - - 1835.38 - - - 2116.06 - -77.86 - - 2813.53 - - - - - - - - - - -
6515.53 696.31 -9.61 753 6516.86 no move -1.25 - - 1835.81 - - - 2116.06 - -77.86 - - 2813.28 - - - - - - - - - - -
6815.57 720.05 -8.62 783 6816.90 no move -1.25 - - 1835.69 - - - 2116.06 - -77.86 - - 2810.91 - - - - - - - - - - -
7115.60 745.64 -8.47 813 7116.93 no move -1.25 - - 1835.44 - - - 2116.00 - -77.86 - - 2812.66 - - - - - - - - - - -
7415.64 771.49 -9.34 843 7421.51 roll -1.25 - - 1835.12 - 4.24 0.175 664.62 -342.3 -77.86 - - 2809.78 - - - - - - - - - 16.02 -
7490.65 779.51 -11.79 858 7496.35 roll -1.25 - - 1834.12 - 3.62 0.071 2114.25 400.5 -77.86 - - 2811.72 - - - - - - - - - 16.06 -
7795.69 805.28 -6.74 889 7797.02 no move -1.25 - - 1836.06 - - - 2114.69 - -77.86 - - 2811.91 - - - - - - - - - - -
8095.74 829.87 -8.02 919 8101.54 roll -1.25 - - 1835.50 - 4.24 0.175 663.31 -342.3 -77.86 - - 2810.22 - - - - - - - - - 16.02 -
8280.83 849.15 -10.41 956 8286.52 roll -1.25 - - 1835.50 - 3.65 0.073 2115.50 397.9 -77.86 - - 2809.97 - - - - - - - - - 16.06 -
8585.90 875.01 -8.42 987 8591.60 roll -1.25 - - 1835.88 - 3.74 0.134 3473.44 363.1 -77.86 - - 2809.03 - - - - - - - - - 16.04 -
8640.92 879.45 -7.99 998 8645.58 roll -1.25 - - 1835.94 - 3.49 0.074 2085.31 -397.7 -77.86 - - 2811.69 - - - - - - - - - 16.06 -
8950.97 903.99 -7.29 1030 8952.30 no move -1.25 - - 1835.44 - - - 2085.62 - -77.86 - - 2810.97 - - - - - - - - - - -
9251.03 928.23 -7.55 1060 9252.36 no move -1.25 - - 1835.94 - - - 2085.81 - -77.86 - - 2810.66 - - - - - - - - - - -
9551.10 950.14 -6.89 1090 9552.43 no move -1.25 - - 1835.56 - - - 2085.75 - -77.86 - - 2810.03 - - - - - - - - - - -
9851.16 971.13 -7.75 1120 9852.49 no move -1.25 - - 1835.56 - - - 2086.00 - -77.86 - - 2810.28 - - - - - - - - - - -
10122 end dive: TARGET_DEPTH_EXCEEDED
10122 begin apogee
10122.46 990.72 -7.21 1147 10192.31 -0.25 1.76 0.154 2080.88 139.4 0.07 0.313 2187.00 1442.9 - 64.68 2.308 2499.22 -4.8 0.348 - - - - - - 15.99 15.58 12.70
10194 end apogee: CONTROL_FINISHED_OK
10194 begin climb
10194.01 991.65 - 1154 10269.23 1.25 2.51 0.095 2448.69 146.5 - - 2186.56 - 77.86 71.42 2.251 2180.50 -4.5 0.332 - - - - - - 15.61 - 12.87
10562.05 960.79 9.05 1191 10563.38 VBD 1.25 - - 2448.06 - - - 2186.44 - 77.86 - - 2168.41 - - - - - - - - - - -
10862.12 935.24 7.20 1221 10863.45 VBD 1.28 - - 2448.00 - - - 2186.12 - 77.86 - - 2168.06 - - - - - - - - - - -
11162.15 907.84 10.65 1251 11163.48 VBD 1.28 - - 2448.12 - - - 2186.38 - 77.86 - - 2167.16 - - - - - - - - - - -
11462.21 881.43 7.43 1281 11467.83 done 1.30 - - 2446.19 - 3.64 0.134 3471.31 353.0 77.86 - - 2168.34 - - - - - - - - - 15.89 -
11651.12 862.15 9.71 1319 11657.97 done 1.30 - - 2447.38 - 3.30 0.068 2183.69 -390.2 77.86 - - 2165.34 - - - - - - - - - 15.91 -
11957.31 837.64 7.64 1350 11958.64 VBD 1.30 - - 2447.56 - - - 2183.88 - 77.86 - - 2164.28 - - - - - - - - - - -
12257.35 815.23 6.91 1380 12263.18 done 1.33 - - 2447.56 - 4.16 0.152 737.31 -347.7 77.86 - - 2161.19 - - - - - - - - - 15.94 -
12466.24 795.22 8.80 1422 12473.16 done 1.33 - - 2447.25 - 3.69 0.063 2216.62 400.9 77.86 - - 2164.28 - - - - - - - - - 15.97 -
12772.42 771.04 7.91 1453 12773.76 VBD 1.33 - - 2447.50 - - - 2215.62 - 77.86 - - 2160.34 - - - - - - - - - - -
13072.46 746.97 7.06 1483 13073.80 VBD 1.36 - - 2447.75 - - - 2216.06 - 77.86 - - 2161.72 - - - - - - - - - - -
13372.48 722.34 9.12 1513 13373.82 VBD 1.36 - - 2447.69 - - - 2216.31 - 77.86 - - 2160.22 - - - - - - - - - - -
13672.52 697.26 7.73 1543 13678.13 done 1.36 - - 2447.50 - 3.51 0.132 3474.19 358.4 77.86 - - 2160.66 - - - - - - - - - 16.00 -
13801.38 684.94 9.37 1569 13808.26 done 1.36 - - 2448.00 - 3.31 0.064 2182.56 -390.2 77.86 - - 2161.28 - - - - - - - - - 16.01 -
14107.58 660.77 7.58 1600 14108.91 VBD 1.36 - - 2447.81 - - - 2182.75 - 77.86 - - 2161.28 - - - - - - - - - - -
14407.61 638.12 7.99 1630 14408.94 VBD 1.36 - - 2447.88 - - - 2183.19 - 77.86 - - 2161.38 - - - - - - - - - - -
14707.65 617.48 7.57 1660 14708.98 VBD 1.36 - - 2448.38 - - - 2183.00 - 77.86 - - 2161.25 - - - - - - - - - - -
15007.69 597.23 7.11 1690 15009.16 1.39 0.17 0.115 2487.00 227.2 - - 2182.88 - 77.86 - - 2161.00 - - - - - - - - 16.01 - -
15307.75 574.76 7.38 1720 15313.37 done 1.41 - - 2486.69 - 3.61 0.127 3473.50 357.5 77.86 - - 2159.56 - - - - - - - - - 16.03 -
15522.85 556.91 8.45 1763 15527.50 done 1.41 - - 2485.25 - 3.28 0.064 2180.50 -394.2 77.86 - - 2161.00 - - - - - - - - - 16.04 -
15832.90 535.97 6.76 1795 15838.77 done 1.45 - - 2486.62 - 4.09 0.144 735.00 -353.4 77.86 - - 2159.12 - - - - - - - - - 16.02 -
15961.77 524.54 9.17 1821 15968.72 done 1.45 - - 2487.06 - 3.65 0.058 2219.69 406.8 77.86 - - 2160.06 - - - - - - - - - 16.03 -
16268.02 503.85 6.12 1852 16272.79 done 1.50 - - 2487.56 - 3.48 0.126 3471.00 359.6 77.86 - - 2158.00 - - - - - - - - - 16.02 -
16391.88 494.18 8.10 1877 16398.75 done 1.50 - - 2487.44 - 3.24 0.062 2181.31 -398.1 77.86 - - 2159.78 - - - - - - - - - 16.04 -
16698.13 474.12 6.37 1908 16703.93 1.56 0.18 0.100 2526.62 217.7 4.05 0.142 736.38 -356.8 77.86 - - 2157.81 - - - - - - - - 16.01 16.02 -
16927.11 453.97 8.32 1954 16934.12 done 1.56 - - 2527.12 - 3.63 0.059 2221.25 409.1 77.86 - - 2158.81 - - - - - - - - - 16.03 -
17233.26 434.40 5.80 1985 17260.01 VBD 1.65 - - 2526.69 - - - 2220.88 - 110.00 26.09 1.600 2049.69 -4.2 0.192 - - - - - - - - 12.81
17553.27 408.64 8.74 2017 17554.60 no move 1.65 - - 2526.75 - - - 2221.25 - 110.00 - - 2046.28 - - - - - - - - - - -
17853.30 380.09 10.35 2047 17854.63 no move 1.65 - - 2527.38 - - - 2221.25 - 110.00 - - 2045.47 - - - - - - - - - - -
18153.34 350.73 9.73 2077 18154.67 no move 1.65 - - 2526.75 - - - 2221.31 - 110.00 - - 2045.09 - - - - - - - - - - -
18453.37 323.76 8.56 2107 18459.15 roll 1.65 - - 2526.31 - 4.17 0.138 736.50 -356.1 110.00 - - 2042.84 - - - - - - - - - 15.98 -
18548.39 313.26 11.85 2126 18554.02 done 1.65 - - 2526.50 - 3.63 0.060 2220.06 408.7 110.00 - - 2042.22 - - - - - - - - - 15.99 -
18853.43 284.54 9.20 2157 18854.77 no move 1.65 - - 2527.00 - - - 2219.25 - 110.00 - - 2042.41 - - - - - - - - - - -
19153.68 256.66 9.37 2187 19159.47 done 1.65 - - 2526.69 - 3.43 0.122 3473.44 365.7 110.00 - - 2042.22 - - - - - - - - - 16.01 -
19272.39 243.94 10.62 2211 19279.19 roll 1.65 - - 2526.19 - 3.21 0.057 2179.75 -403.0 110.00 - - 2045.75 - - - - - - - - - 16.02 -
19578.54 219.14 7.54 2242 19579.87 VBD 1.67 - - 2526.75 - - - 2180.50 - 110.00 - - 2043.97 - - - - - - - - - - -
19878.58 196.52 7.51 2272 19879.91 VBD 1.68 - - 2527.00 - - - 2180.25 - 110.00 - - 2043.72 - - - - - - - - - - -
20178.61 174.39 7.10 2302 20184.24 1.71 0.17 0.109 2566.31 231.2 3.53 0.117 3471.88 365.9 110.00 - - 2042.50 - - - - - - - - 16.01 16.02 -
20243.67 168.82 8.16 2315 20248.14 done 1.71 - - 2565.50 - 3.23 0.057 2176.56 -401.0 110.00 - - 2045.47 - - - - - - - - - 16.04 -
20553.65 147.59 6.60 2347 20559.32 roll 1.76 - - 2565.94 - 4.01 0.136 735.25 -359.4 110.00 - - 2041.75 - - - - - - - - - 16.02 -
20658.65 139.65 7.58 2368 20664.27 done 1.76 - - 2566.06 - 3.59 0.055 2224.06 414.7 110.00 - - 2045.12 - - - - - - - - - 16.03 -
20963.73 121.90 4.89 2399 21007.58 1.89 0.19 0.097 2608.31 222.4 4.15 0.131 735.56 -358.7 155.07 37.91 1.260 1864.50 -4.8 0.078 - - - - - - 16.02 15.85 12.77
21025.35 117.97 5.90 2408 21057.68 done 1.98 - - 2608.44 - 3.62 0.052 2223.69 411.1 185.79 26.53 1.205 1740.06 -4.7 0.077 - - - - - - - 15.90 12.87
21355.47 82.12 9.06 2462 21356.80 VBD 1.98 - - 2608.81 - - - 2223.81 - 185.79 - - 1733.22 - - - - - - - - - - -
21535.53 69.05 6.23 2498 21537.00 2.04 0.16 0.101 2642.56 210.9 - - 2223.81 - 185.79 - - 1733.28 - - - - - - - - 15.88 - -
21715.58 60.64 3.53 2534 21777.08 2.23 0.23 0.085 2691.69 213.6 4.18 0.129 736.25 -355.9 250.31 52.42 1.171 1478.66 -4.9 0.042 - - - - - - 15.91 15.70 12.78
22000.61 37.48 8.48 2591 22006.52 roll 2.23 - - 2691.00 - 3.65 0.053 2223.00 407.3 250.31 - - 1473.88 - - - - - - - - - 15.81 -
22185.66 20.31 10.30 2628 22186.99 VBD 2.23 - - 2691.19 - - - 2223.00 - 250.31 - - 1471.16 - - - - - - - - - - -
22366 end climb: SURFACE_DEPTH_REACHED
22366 begin surface coast
22386 end surface coast: CONTROL_FINISHED_OK
22386 begin surface
SM 0.52 - - - - 175.1 1.51 0.141 768.4 508.9 16.53 0.086 768.1 46.5 - 0.35 0.096 768.7 2196.3 -1.216 - - 15.45 15.85 15.90 -