NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 334 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 102.49 of 575.00 AH used of 24V (82.18% remains)
• Surface angle -60.1 deg, depth 0.55 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.65 (SM_CC=425)
• GPS1 time: 32 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 - - - 85.52 VBD -1.25 - - 178.88 - - - 2080.94 - -77.86 78.06 0.005 2492.22 - - - - - - - - - - 15.56
85.79 3.58 -5.32 15 117.59 -1.25 13.69 0.251 1836.00 121.0 4.18 0.159 663.81 -339.0 -77.86 8.02 0.008 2816.88 40.5 -3.060 - - - - - - 15.59 15.55 15.61
260.37 44.27 -22.65 50 266.16 roll -1.25 - - 1835.81 - 3.59 0.057 2117.62 405.0 -77.86 - - 2816.31 - - - - - - - - - 15.70 -
445.42 77.62 -15.71 87 446.75 no move -1.25 - - 1835.75 - - - 2117.69 - -77.86 - - 2816.41 - - - - - - - - - - -
630.46 101.74 -13.08 123 636.16 roll -1.25 - - 1834.19 - 3.63 0.116 3472.75 373.3 -77.86 - - 2818.69 - - - - - - - - - 15.84 -
705.49 111.20 -11.71 138 710.06 roll -1.25 - - 1834.75 - 3.46 0.058 2081.31 -402.2 -77.86 - - 2817.22 - - - - - - - - - 15.87 -
1015.51 143.15 -10.87 170 1021.28 roll -1.25 - - 1834.69 - 4.09 0.153 663.56 -346.6 -77.86 - - 2816.69 - - - - - - - - - 15.83 -
1050.54 147.35 -12.20 177 1056.12 roll -1.25 - - 1835.06 - 3.52 0.054 2119.81 413.7 -77.86 - - 2817.97 - - - - - - - - - 15.86 -
1355.56 178.78 -10.70 208 1356.88 no move -1.25 - - 1835.75 - - - 2119.44 - -77.86 - - 2818.16 - - - - - - - - - - -
1655.58 212.16 -11.78 238 1656.91 no move -1.25 - - 1836.00 - - - 2119.88 - -77.86 - - 2817.44 - - - - - - - - - - -
1955.62 244.00 -10.93 268 1961.55 roll -1.25 - - 1835.69 - 4.18 0.154 663.81 -348.3 -77.86 - - 2817.22 - - - - - - - - - 15.90 -
2010.70 251.24 -13.54 279 2016.38 roll -1.25 - - 1835.38 - 3.46 0.056 2118.94 420.6 -77.86 - - 2816.50 - - - - - - - - - 15.94 -
2315.68 283.79 -10.08 310 2317.00 no move -1.25 - - 1835.62 - - - 2119.00 - -77.86 - - 2818.09 - - - - - - - - - - -
2615.74 313.11 -9.79 340 2621.53 roll -1.25 - - 1836.00 - 4.18 0.156 662.75 -348.4 -77.86 - - 2815.69 - - - - - - - - - 15.92 -
2660.77 318.37 -12.49 349 2666.35 roll -1.25 - - 1834.12 - 3.50 0.057 2120.06 416.4 -77.86 - - 2817.00 - - - - - - - - - 15.96 -
2965.81 350.58 -10.34 380 2967.14 no move -1.25 - - 1835.81 - - - 2119.25 - -77.86 - - 2817.19 - - - - - - - - - - -
3265.87 382.65 -10.83 410 3267.20 no move -1.25 - - 1835.62 - - - 2119.88 - -77.86 - - 2817.31 - - - - - - - - - - -
3565.93 412.83 -9.26 440 3567.26 no move -1.25 - - 1835.62 - - - 2119.75 - -77.86 - - 2815.75 - - - - - - - - - - -
3865.99 441.11 -9.38 470 3867.32 no move -1.25 - - 1835.69 - - - 2119.69 - -77.86 - - 2816.91 - - - - - - - - - - -
4166.06 469.22 -9.81 500 4171.87 roll -1.25 - - 1835.50 - 4.20 0.163 663.62 -346.7 -77.86 - - 2814.69 - - - - - - - - - 15.95 -
4231.15 476.55 -11.54 513 4236.77 roll -1.25 - - 1835.75 - 3.51 0.060 2117.56 414.2 -77.86 - - 2816.12 - - - - - - - - - 15.99 -
4536.15 505.58 -9.39 544 4537.48 no move -1.25 - - 1835.56 - - - 2118.00 - -77.86 - - 2816.16 - - - - - - - - - - -
4836.19 533.14 -9.29 574 4837.51 no move -1.25 - - 1835.50 - - - 2118.19 - -77.86 - - 2815.25 - - - - - - - - - - -
5136.22 560.05 -8.61 604 5137.54 no move -1.25 - - 1835.88 - - - 2117.88 - -77.86 - - 2815.59 - - - - - - - - - - -
5436.25 588.70 -9.49 634 5437.58 no move -1.25 - - 1836.06 - - - 2118.00 - -77.86 - - 2814.88 - - - - - - - - - - -
5736.29 616.89 -9.79 664 5737.62 no move -1.25 - - 1835.44 - - - 2117.44 - -77.86 - - 2814.41 - - - - - - - - - - -
6036.32 644.14 -8.54 694 6042.13 roll -1.25 - - 1835.56 - 4.23 0.169 663.56 -343.7 -77.86 - - 2814.34 - - - - - - - - - 15.96 -
6091.41 649.90 -11.59 705 6097.02 roll -1.25 - - 1835.94 - 3.55 0.064 2117.19 409.5 -77.86 - - 2811.97 - - - - - - - - - 16.01 -
6396.37 676.66 -9.51 736 6402.17 roll -1.25 - - 1835.44 - 4.22 0.168 662.69 -344.7 -77.86 - - 2811.72 - - - - - - - - - 15.95 -
6441.39 680.68 -10.59 745 6446.06 roll -1.25 - - 1835.56 - 3.54 0.062 2119.06 411.4 -77.86 - - 2813.56 - - - - - - - - - 16.00 -
6751.42 707.36 -8.33 777 6752.74 no move -1.25 - - 1835.44 - - - 2120.69 - -77.86 - - 2813.09 - - - - - - - - - - -
7051.45 733.01 -8.80 807 7052.78 no move -1.25 - - 1835.56 - - - 2120.31 - -77.86 - - 2811.62 - - - - - - - - - - -
7351.48 758.56 -8.68 837 7357.29 roll -1.25 - - 1835.56 - 4.25 0.172 664.69 -342.5 -77.86 - - 2810.78 - - - - - - - - - 15.95 -
7416.57 765.13 -9.72 850 7422.18 roll -1.25 - - 1834.81 - 3.54 0.066 2115.69 409.9 -77.86 - - 2810.91 - - - - - - - - - 16.00 -
7721.53 792.18 -8.64 881 7727.34 roll -1.25 - - 1836.00 - 4.24 0.172 663.44 -342.5 -77.86 - - 2810.00 - - - - - - - - - 15.95 -
7756.56 795.41 -8.15 888 7761.21 roll -1.25 - - 1834.50 - 3.53 0.066 2117.25 411.8 -77.86 - - 2813.09 - - - - - - - - - 15.99 -
8066.58 822.44 -8.83 920 8072.38 roll -1.25 - - 1835.81 - 4.21 0.174 663.56 -345.3 -77.86 - - 2809.28 - - - - - - - - - 15.93 -
8095.51 825.40 -9.29 926 8102.34 roll -1.25 - - 1835.81 - 3.55 0.067 2118.44 409.8 -77.86 - - 2811.50 - - - - - - - - - 15.99 -
8401.61 852.48 -8.37 957 8402.94 no move -1.25 - - 1835.94 - - - 2118.25 - -77.86 - - 2811.47 - - - - - - - - - - -
8701.66 878.55 -8.91 987 8702.98 no move -1.25 - - 1836.00 - - - 2118.00 - -77.86 - - 2811.81 - - - - - - - - - - -
9001.69 903.15 -7.37 1017 9003.02 no move -1.25 - - 1835.31 - - - 2118.00 - -77.86 - - 2809.50 - - - - - - - - - - -
9301.75 926.72 -7.76 1047 9303.08 no move -1.25 - - 1836.06 - - - 2118.00 - -77.86 - - 2810.44 - - - - - - - - - - -
9601.82 948.97 -6.51 1077 9607.62 roll -1.25 - - 1835.75 - 4.23 0.179 664.44 -343.6 -77.86 - - 2808.72 - - - - - - - - - 15.93 -
9676.85 954.57 -8.62 1092 9682.54 roll -1.25 - - 1834.00 - 3.60 0.073 2113.25 402.4 -77.86 - - 2810.22 - - - - - - - - - 16.00 -
9981.93 975.57 -4.69 1123 9983.26 no move -1.25 - - 1835.31 - - - 2113.75 - -77.86 - - 2809.28 - - - - - - - - - - -
10191 end dive: TARGET_DEPTH_EXCEEDED
10191 begin apogee
10193.21 991.07 -8.50 1144 10263.72 -0.25 1.74 0.146 2079.12 140.1 0.07 0.323 2186.12 1033.9 - 64.82 2.318 2498.03 -4.8 0.347 - - - - - - 15.98 15.56 12.71
10265 end apogee: CONTROL_FINISHED_OK
10265 begin climb
10265.45 992.25 - 1151 10344.15 1.25 2.52 0.089 2447.69 146.3 - - 2186.00 - 77.86 72.69 2.243 2182.69 -4.3 0.324 - - - - - - 15.61 - 12.77
10642.10 958.33 12.56 1189 10643.43 VBD 1.25 - - 2448.25 - - - 2186.81 - 77.86 - - 2169.00 - - - - - - - - - - -
10942.09 931.01 8.66 1219 10947.72 done 1.25 - - 2447.94 - 3.61 0.137 3471.81 356.0 77.86 - - 2166.38 - - - - - - - - - 15.78 -
11027.19 922.51 9.91 1236 11031.68 done 1.25 - - 2448.19 - 3.27 0.068 2184.75 -393.6 77.86 - - 2168.34 - - - - - - - - - 15.80 -
11337.26 895.10 8.14 1268 11338.59 VBD 1.25 - - 2447.75 - - - 2184.06 - 77.86 - - 2167.09 - - - - - - - - - - -
11637.21 866.71 8.89 1298 11642.99 done 1.25 - - 2445.50 - 4.11 0.153 736.12 -352.3 77.86 - - 2165.19 - - - - - - - - - 15.80 -
11712.23 858.59 11.10 1313 11717.00 done 1.25 - - 2448.94 - 3.65 0.063 2216.62 405.6 77.86 - - 2162.34 - - - - - - - - - 15.84 -
12022.27 829.50 7.64 1345 12026.86 done 1.25 - - 2448.38 - 3.43 0.133 3473.00 366.3 77.86 - - 2163.78 - - - - - - - - - 15.90 -
12156.14 815.17 10.62 1372 12163.16 done 1.25 - - 2448.25 - 3.24 0.065 2180.81 -398.8 77.86 - - 2163.50 - - - - - - - - - 15.92 -
12462.34 787.57 9.91 1403 12467.95 done 1.25 - - 2448.69 - 3.57 0.132 3472.75 361.9 77.86 - - 2161.19 - - - - - - - - - 15.90 -
12607.37 773.03 11.27 1432 12611.93 done 1.25 - - 2449.00 - 3.26 0.065 2184.00 -395.3 77.86 - - 2162.91 - - - - - - - - - 15.95 -
12917.41 743.74 10.74 1464 12918.74 VBD 1.25 - - 2449.06 - - - 2184.56 - 77.86 - - 2161.50 - - - - - - - - - - -
13217.44 716.90 8.96 1494 13223.22 done 1.25 - - 2448.75 - 4.11 0.148 737.38 -352.1 77.86 - - 2162.62 - - - - - - - - - 15.88 -
13306.29 707.39 11.02 1512 13313.24 done 1.25 - - 2448.75 - 3.62 0.062 2218.56 409.2 77.86 - - 2161.06 - - - - - - - - - 15.90 -
13612.50 681.04 8.52 1543 13613.83 VBD 1.25 - - 2448.62 - - - 2218.44 - 77.86 - - 2160.44 - - - - - - - - - - -
13912.55 657.08 7.50 1573 13913.88 VBD 1.27 - - 2448.88 - - - 2218.75 - 77.86 - - 2161.47 - - - - - - - - - - -
14212.57 632.49 8.77 1603 14218.35 done 1.27 - - 2446.56 - 4.18 0.145 737.25 -354.4 77.86 - - 2160.81 - - - - - - - - - 15.92 -
14327.59 621.77 10.16 1626 14333.22 done 1.27 - - 2448.75 - 3.61 0.062 2219.06 410.5 77.86 - - 2160.09 - - - - - - - - - 15.95 -
14632.65 599.04 7.45 1657 14638.41 done 1.29 - - 2448.00 - 4.16 0.143 737.38 -356.2 77.86 - - 2159.94 - - - - - - - - - 15.93 -
14807.68 583.34 10.09 1692 14813.30 done 1.29 - - 2448.69 - 3.61 0.061 2220.06 410.7 77.86 - - 2159.75 - - - - - - - - - 15.94 -
15112.75 560.41 7.13 1723 15114.08 VBD 1.31 - - 2448.50 - - - 2220.00 - 77.86 - - 2160.75 - - - - - - - - - - -
15412.81 538.97 7.15 1753 15414.14 VBD 1.34 - - 2449.38 - - - 2219.94 - 77.86 - - 2160.16 - - - - - - - - - - -
15712.87 519.52 6.41 1783 15714.34 1.39 0.17 0.095 2487.31 223.1 - - 2219.19 - 77.86 - - 2159.72 - - - - - - - - 16.01 - -
16012.94 500.87 5.89 1813 16044.36 done 1.48 - - 2490.31 - 4.20 0.143 737.06 -352.9 108.64 25.42 1.691 2056.34 -4.1 0.204 - - - - - - - 15.83 12.71
16093.02 494.51 8.61 1828 16098.70 roll 1.48 - - 2489.56 - 3.63 0.059 2220.50 408.7 108.64 - - 2051.72 - - - - - - - - - 15.81 -
16398.01 470.25 8.00 1859 16399.34 no move 1.48 - - 2490.50 - - - 2220.69 - 108.64 - - 2051.12 - - - - - - - - - - -
16698.07 445.75 8.83 1889 16699.40 no move 1.48 - - 2490.31 - - - 2220.50 - 108.64 - - 2050.16 - - - - - - - - - - -
16998.13 421.21 8.35 1919 16999.46 no move 1.48 - - 2490.88 - - - 2220.88 - 108.64 - - 2049.47 - - - - - - - - - - -
17298.17 395.84 8.72 1949 17299.51 VBD 1.48 - - 2490.00 - - - 2220.50 - 108.64 - - 2049.44 - - - - - - - - - - -
17598.21 369.85 9.02 1979 17599.54 VBD 1.48 - - 2490.38 - - - 2220.62 - 108.64 - - 2049.12 - - - - - - - - - - -
17898.25 344.47 8.61 2009 17899.58 VBD 1.48 - - 2490.31 - - - 2220.81 - 108.64 - - 2048.84 - - - - - - - - - - -
18198.28 319.05 8.63 2039 18202.86 done 1.48 - - 2490.44 - 3.37 0.127 3472.75 371.5 108.64 - - 2048.84 - - - - - - - - - 15.99 -
18352.24 304.51 10.21 2070 18359.06 done 1.48 - - 2490.44 - 3.23 0.060 2179.25 -400.5 108.64 - - 2049.47 - - - - - - - - - 16.00 -
18658.36 279.28 7.62 2101 18659.69 VBD 1.48 - - 2490.12 - - - 2179.12 - 108.64 - - 2048.91 - - - - - - - - - - -
18958.41 256.84 7.26 2131 18959.74 VBD 1.51 - - 2490.44 - - - 2179.12 - 108.64 - - 2046.72 - - - - - - - - - - -
19258.45 235.80 6.86 2161 19259.78 VBD 1.54 - - 2490.31 - - - 2179.25 - 108.64 - - 2048.66 - - - - - - - - - - -
19558.47 215.20 6.74 2191 19559.94 1.58 0.20 0.093 2532.56 211.2 - - 2179.69 - 108.64 - - 2048.88 - - - - - - - - 16.00 - -
19858.51 193.84 6.79 2221 19864.19 done 1.62 - - 2532.94 - 4.05 0.137 735.69 -356.5 108.64 - - 2046.44 - - - - - - - - - 15.94 -
19953.51 186.25 8.54 2240 19959.14 done 1.62 - - 2533.19 - 3.64 0.059 2221.94 408.3 108.64 - - 2047.16 - - - - - - - - - 15.96 -
20258.58 167.51 5.76 2271 20293.24 done 1.72 - - 2533.25 - 3.46 0.124 3473.12 361.6 141.37 28.33 1.320 1922.91 -4.4 0.094 - - - - - - - 15.84 12.80
20382.40 156.08 11.39 2296 20389.30 roll 1.72 - - 2533.50 - 3.27 0.057 2180.12 -395.4 141.37 - - 1920.59 - - - - - - - - - 15.88 -
20688.60 128.10 8.11 2327 20689.93 no move 1.72 - - 2532.56 - - - 2179.94 - 141.37 - - 1917.31 - - - - - - - - - - -
20988.65 104.33 6.86 2357 20994.43 roll back 1.75 0.20 0.094 2576.06 217.5 3.58 0.118 3472.12 360.9 141.37 - - 1916.59 - - - - - - - - 15.84 15.85 -
21218.71 91.76 3.59 2403 21276.58 1.94 0.22 0.088 2619.38 196.9 3.25 0.055 2178.56 -398.0 205.06 52.92 1.244 1662.53 -4.8 0.060 - - - - - - 15.80 15.89 12.44
21454.38 74.76 9.12 2450 21460.22 roll 1.94 - - 2618.94 - 4.15 0.133 736.31 -347.5 205.06 - - 1657.50 - - - - - - - - - 15.58 -
21684.44 56.20 4.22 2496 21736.39 2.11 0.20 0.088 2661.69 213.8 3.68 0.054 2227.44 405.2 259.71 44.69 1.175 1441.50 -4.8 0.039 - - - - - - 15.83 15.66 12.74
21914.46 43.53 9.04 2542 21915.79 no move 2.11 - - 2662.00 - - - 2227.62 - 259.71 - - 1434.50 - - - - - - - - - - -
22094.49 24.11 11.07 2578 22100.23 done 2.11 - - 2662.31 - 3.44 0.118 3472.50 361.9 259.71 - - 1432.56 - - - - - - - - - 15.79 -
22189.59 11.78 13.87 2597 22195.22 done 2.11 - - 2662.62 - 3.26 0.055 2180.62 -396.3 259.71 - - 1432.38 - - - - - - - - - 15.82 -
22274 end climb: SURFACE_DEPTH_REACHED
22274 begin surface coast
22289 end surface coast: CONTROL_FINISHED_OK
22289 begin surface
SM 0.56 - - - - 173.0 - 2.772 768.8 - 16.17 0.077 770.4 47.6 - 0.22 0.102 767.3 3472.9 -1.949 - - 30.36 15.72 15.79 -