NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 336 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 103.11 of 575.00 AH used of 24V (82.07% remains)
• Surface angle -63.1 deg, depth 0.78 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.65 (SM_CC=425)
• GPS1 time: 22 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
6.91 - - - 80.46 VBD -1.25 - - 175.38 - - - 2116.25 - -77.86 72.93 0.005 2363.22 - - - - - - - - - - 15.58
80.73 3.07 -3.59 14 111.90 -1.25 13.94 0.263 1835.94 119.1 - - 2116.00 - -77.86 12.31 0.007 2815.69 36.8 -2.725 - - - - - - 15.61 - 15.59
289.72 43.79 -20.66 56 291.04 no move -1.25 - - 1835.56 - - - 2116.62 - -77.86 - - 2816.69 - - - - - - - - - - -
469.79 77.09 -14.42 92 471.12 no move -1.25 - - 1836.06 - - - 2116.19 - -77.86 - - 2817.50 - - - - - - - - - - -
649.88 101.29 -12.74 127 655.58 roll -1.25 - - 1835.81 - 3.73 0.117 3472.31 363.6 -77.86 - - 2814.81 - - - - - - - - - 15.85 -
694.89 107.32 -13.43 136 700.56 roll -1.25 - - 1833.75 - 3.56 0.060 2083.38 -390.1 -77.86 - - 2818.59 - - - - - - - - - 15.88 -
999.95 140.90 -10.80 167 1001.28 no move -1.25 - - 1835.69 - - - 2084.00 - -77.86 - - 2817.69 - - - - - - - - - - -
1300.01 172.98 -11.12 197 1301.33 no move -1.25 - - 1835.81 - - - 2083.19 - -77.86 - - 2817.38 - - - - - - - - - - -
1600.06 204.61 -9.93 227 1601.39 no move -1.25 - - 1836.38 - - - 2083.94 - -77.86 - - 2818.25 - - - - - - - - - - -
1900.12 235.50 -10.32 257 1901.45 no move -1.25 - - 1836.00 - - - 2083.25 - -77.86 - - 2817.91 - - - - - - - - - - -
2200.17 266.16 -10.60 287 2201.50 no move -1.25 - - 1836.00 - - - 2083.44 - -77.86 - - 2817.97 - - - - - - - - - - -
2500.20 299.66 -12.18 317 2505.94 roll -1.25 - - 1836.12 - 3.82 0.120 3472.75 363.7 -77.86 - - 2818.09 - - - - - - - - - 16.02 -
2549.15 305.70 -12.02 327 2555.98 roll -1.25 - - 1836.00 - 3.57 0.064 2084.31 -388.9 -77.86 - - 2818.41 - - - - - - - - - 16.02 -
2855.25 339.23 -10.49 358 2861.03 roll -1.25 - - 1835.38 - 4.16 0.161 663.62 -341.5 -77.86 - - 2818.12 - - - - - - - - - 15.93 -
2920.37 347.32 -12.67 371 2925.96 roll -1.25 - - 1835.56 - 3.55 0.056 2119.12 410.0 -77.86 - - 2815.88 - - - - - - - - - 15.97 -
3225.30 379.70 -10.31 402 3226.63 no move -1.25 - - 1836.19 - - - 2118.44 - -77.86 - - 2817.59 - - - - - - - - - - -
3525.34 410.20 -10.12 432 3531.13 roll -1.25 - - 1835.56 - 4.24 0.159 662.56 -343.4 -77.86 - - 2817.91 - - - - - - - - - 15.94 -
3564.20 414.27 -11.39 440 3571.10 roll -1.25 - - 1835.00 - 3.52 0.057 2118.81 413.7 -77.86 - - 2817.88 - - - - - - - - - 15.98 -
3870.38 443.89 -9.67 471 3871.70 no move -1.25 - - 1836.31 - - - 2119.38 - -77.86 - - 2816.84 - - - - - - - - - - -
4170.42 470.81 -8.37 501 4176.21 roll -1.25 - - 1836.31 - 4.22 0.161 664.75 -344.7 -77.86 - - 2814.03 - - - - - - - - - 15.94 -
4225.50 476.55 -10.51 512 4231.11 roll -1.25 - - 1836.00 - 3.52 0.059 2118.31 412.9 -77.86 - - 2814.16 - - - - - - - - - 15.99 -
4530.46 503.09 -7.92 543 4536.25 roll -1.25 - - 1836.75 - 4.21 0.162 664.25 -345.4 -77.86 - - 2817.34 - - - - - - - - - 15.94 -
4575.49 507.81 -10.58 552 4581.15 roll -1.25 - - 1836.50 - 3.52 0.059 2118.62 413.2 -77.86 - - 2813.91 - - - - - - - - - 15.99 -
4880.50 535.20 -8.60 583 4881.83 no move -1.25 - - 1836.31 - - - 2119.00 - -77.86 - - 2815.22 - - - - - - - - - - -
5180.53 561.40 -8.77 613 5186.32 roll -1.25 - - 1836.75 - 4.22 0.164 664.62 -344.6 -77.86 - - 2816.69 - - - - - - - - - 15.95 -
5219.39 565.36 -10.92 621 5226.29 roll -1.25 - - 1835.88 - 3.53 0.059 2117.69 411.6 -77.86 - - 2815.41 - - - - - - - - - 16.00 -
5525.57 591.83 -8.13 652 5526.90 no move -1.25 - - 1836.12 - - - 2117.69 - -77.86 - - 2815.06 - - - - - - - - - - -
5825.60 618.22 -8.27 682 5826.93 no move -1.25 - - 1836.62 - - - 2118.25 - -77.86 - - 2814.72 - - - - - - - - - - -
6125.63 644.90 -8.94 712 6126.96 no move -1.25 - - 1836.75 - - - 2117.88 - -77.86 - - 2814.53 - - - - - - - - - - -
6425.69 670.75 -7.06 742 6427.02 no move -1.25 - - 1836.94 - - - 2118.44 - -77.86 - - 2813.81 - - - - - - - - - - -
6725.75 696.50 -8.56 772 6727.08 no move -1.25 - - 1836.25 - - - 2118.12 - -77.86 - - 2813.38 - - - - - - - - - - -
7025.81 721.81 -7.99 802 7027.14 no move -1.25 - - 1836.44 - - - 2117.88 - -77.86 - - 2812.91 - - - - - - - - - - -
7325.87 747.63 -8.76 832 7331.60 roll -1.25 - - 1836.38 - 3.73 0.133 3473.62 363.5 -77.86 - - 2810.28 - - - - - - - - - 16.05 -
7380.91 752.43 -9.12 843 7386.58 roll -1.25 - - 1835.56 - 3.54 0.072 2085.88 -392.0 -77.86 - - 2812.12 - - - - - - - - - 16.05 -
7685.96 779.10 -8.66 874 7687.28 no move -1.25 - - 1836.12 - - - 2086.31 - -77.86 - - 2812.50 - - - - - - - - - - -
7986.01 805.61 -9.00 904 7987.34 no move -1.25 - - 1836.56 - - - 2085.94 - -77.86 - - 2812.12 - - - - - - - - - - -
8286.08 831.67 -8.73 934 8291.86 roll -1.25 - - 1836.06 - 4.19 0.179 664.75 -339.2 -77.86 - - 2812.41 - - - - - - - - - 15.94 -
8371.11 840.32 -11.33 951 8376.79 roll -1.25 - - 1836.25 - 3.59 0.069 2115.69 404.2 -77.86 - - 2813.16 - - - - - - - - - 15.99 -
8676.16 864.09 -7.78 982 8677.49 no move -1.25 - - 1836.81 - - - 2115.31 - -77.86 - - 2811.59 - - - - - - - - - - -
8976.19 885.75 -6.62 1012 8981.99 roll -1.25 - - 1836.81 - 4.26 0.175 663.62 -340.8 -77.86 - - 2812.53 - - - - - - - - - 15.94 -
9071.22 894.21 -9.31 1031 9075.89 roll -1.25 - - 1836.62 - 3.55 0.069 2114.75 408.8 -77.86 - - 2809.97 - - - - - - - - - 16.00 -
9381.25 916.26 -8.37 1063 9382.58 no move -1.25 - - 1837.00 - - - 2115.94 - -77.86 - - 2810.88 - - - - - - - - - - -
9681.28 939.61 -9.37 1093 9682.61 no move -1.25 - - 1836.38 - - - 2116.00 - -77.86 - - 2810.47 - - - - - - - - - - -
9981.31 963.15 -8.24 1123 9982.64 no move -1.25 - - 1836.69 - - - 2115.81 - -77.86 - - 2810.38 - - - - - - - - - - -
10281.34 985.86 -6.88 1153 10282.67 no move -1.25 - - 1836.56 - - - 2116.00 - -77.86 - - 2808.31 - - - - - - - - - - -
10341 end dive: TARGET_DEPTH_EXCEEDED
10341 begin apogee
10342.73 990.61 -7.82 1159 10413.15 -0.25 1.75 0.154 2080.62 139.5 0.08 0.295 2186.62 882.7 - 65.54 2.320 2498.66 -4.7 0.341 - - - - - - 15.98 15.57 12.68
10414 end apogee: CONTROL_FINISHED_OK
10414 begin climb
10414.88 992.81 - 1166 10493.52 1.25 2.53 0.093 2448.12 145.3 - - 2186.56 - 77.86 72.81 2.258 2181.44 -4.4 0.324 - - - - - - 15.61 - 12.82
10791.46 962.29 8.37 1204 10792.79 VBD 1.25 - - 2448.06 - - - 2186.25 - 77.86 - - 2170.00 - - - - - - - - - - -
11091.42 933.81 8.75 1234 11097.07 done 1.25 - - 2445.25 - 3.63 0.137 3471.81 354.1 77.86 - - 2167.53 - - - - - - - - - 15.74 -
11166.59 926.29 9.95 1249 11171.01 done 1.25 - - 2448.00 - 3.33 0.067 2183.25 -387.0 77.86 - - 2165.75 - - - - - - - - - 15.80 -
11476.48 896.62 8.47 1281 11477.82 VBD 1.25 - - 2447.94 - - - 2183.25 - 77.86 - - 2166.78 - - - - - - - - - - -
11776.51 867.47 10.96 1311 11782.11 done 1.25 - - 2445.56 - 3.60 0.133 3472.44 358.1 77.86 - - 2164.78 - - - - - - - - - 15.88 -
11841.54 860.65 11.31 1324 11846.08 done 1.25 - - 2447.81 - 3.30 0.065 2183.75 -390.5 77.86 - - 2166.16 - - - - - - - - - 15.91 -
12151.56 830.86 9.57 1356 12152.89 VBD 1.25 - - 2448.25 - - - 2183.75 - 77.86 - - 2164.25 - - - - - - - - - - -
12451.60 804.17 7.70 1386 12457.37 done 1.25 - - 2448.00 - 4.14 0.151 738.44 -349.1 77.86 - - 2163.94 - - - - - - - - - 15.86 -
12526.60 796.66 9.49 1401 12532.24 done 1.25 - - 2448.94 - 3.63 0.061 2217.38 407.4 77.86 - - 2162.59 - - - - - - - - - 15.89 -
12831.65 769.53 8.45 1432 12837.51 done 1.25 - - 2448.19 - 4.20 0.149 737.12 -352.4 77.86 - - 2162.44 - - - - - - - - - 15.88 -
12916.67 761.02 9.40 1449 12922.30 done 1.25 - - 2448.81 - 3.62 0.062 2218.25 409.2 77.86 - - 2160.81 - - - - - - - - - 15.91 -
13221.76 737.16 6.90 1480 13223.09 VBD 1.29 - - 2448.75 - - - 2218.31 - 77.86 - - 2161.72 - - - - - - - - - - -
13521.80 713.69 8.17 1510 13523.13 VBD 1.29 - - 2448.81 - - - 2218.44 - 77.86 - - 2161.81 - - - - - - - - - - -
13821.86 690.78 7.81 1540 13823.19 VBD 1.29 - - 2448.81 - - - 2218.56 - 77.86 - - 2161.81 - - - - - - - - - - -
14121.92 667.85 8.45 1570 14123.25 VBD 1.29 - - 2449.12 - - - 2218.69 - 77.86 - - 2161.41 - - - - - - - - - - -
14422.00 644.61 7.38 1600 14423.33 VBD 1.31 - - 2448.88 - - - 2218.50 - 77.86 - - 2159.69 - - - - - - - - - - -
14722.06 623.03 6.94 1630 14727.82 done 1.34 - - 2448.88 - 4.18 0.145 736.81 -354.5 77.86 - - 2160.12 - - - - - - - - - 15.93 -
14837.11 613.56 7.34 1653 14842.71 done 1.36 - - 2448.56 - 3.64 0.062 2219.88 407.4 77.86 - - 2158.19 - - - - - - - - - 15.96 -
15142.17 591.55 6.73 1684 15143.64 1.40 0.19 0.097 2490.00 218.1 - - 2219.62 - 77.86 - - 2160.53 - - - - - - - - 16.01 - -
15442.18 568.83 7.97 1714 15446.90 done 1.40 - - 2489.88 - 3.44 0.131 3472.06 364.1 77.86 - - 2160.78 - - - - - - - - - 16.01 -
15572.22 557.14 8.25 1740 15576.78 done 1.40 - - 2490.69 - 3.26 0.062 2181.31 -395.9 77.86 - - 2160.44 - - - - - - - - - 16.02 -
15882.27 534.11 7.99 1772 15888.01 done 1.40 - - 2490.31 - 3.55 0.125 3472.12 363.6 77.86 - - 2158.66 - - - - - - - - - 16.00 -
15941.15 529.26 7.39 1784 15948.12 done 1.42 - - 2490.06 - 3.27 0.060 2181.44 -394.7 77.86 - - 2160.62 - - - - - - - - - 16.02 -
16247.34 508.53 6.91 1815 16248.67 VBD 1.45 - - 2489.75 - - - 2180.88 - 77.86 - - 2159.09 - - - - - - - - - - -
16547.36 487.87 6.84 1845 16548.69 VBD 1.49 - - 2490.06 - - - 2181.12 - 77.86 - - 2160.16 - - - - - - - - - - -
16847.40 468.94 6.64 1875 16848.73 VBD 1.53 - - 2489.94 - - - 2180.50 - 77.86 - - 2158.88 - - - - - - - - - - -
17147.44 450.25 5.98 1905 17172.28 1.62 0.26 0.090 2540.06 192.8 - - 2180.62 - 107.34 24.00 1.632 2059.69 -4.1 0.193 - - - - - - 15.99 - 12.65
17467.46 421.50 9.16 1937 17468.79 no move 1.62 - - 2541.69 - - - 2181.56 - 107.34 - - 2056.12 - - - - - - - - - - -
17767.49 392.35 10.23 1967 17773.10 roll 1.62 - - 2541.62 - 3.58 0.125 3471.69 360.4 107.34 - - 2058.28 - - - - - - - - - 15.91 -
17852.58 383.47 11.18 1984 17857.06 roll 1.62 - - 2540.75 - 3.29 0.061 2179.69 -392.7 107.34 - - 2057.78 - - - - - - - - - 15.96 -
18162.55 354.00 10.17 2016 18168.15 roll 1.62 - - 2539.12 - 3.57 0.122 3471.62 361.9 107.34 - - 2056.38 - - - - - - - - - 15.93 -
18241.42 345.56 10.68 2032 18248.28 roll 1.62 - - 2541.75 - 3.27 0.059 2180.19 -394.9 107.34 - - 2056.38 - - - - - - - - - 15.97 -
18547.60 316.32 8.81 2063 18553.22 roll 1.62 - - 2540.38 - 3.57 0.120 3471.19 361.6 107.34 - - 2054.97 - - - - - - - - - 15.92 -
18622.62 308.24 10.31 2078 18627.16 roll 1.62 - - 2541.94 - 3.26 0.058 2180.06 -396.1 107.34 - - 2056.12 - - - - - - - - - 15.98 -
18932.65 279.89 9.01 2110 18938.37 roll 1.62 - - 2539.19 - 4.07 0.138 736.00 -354.8 107.34 - - 2055.41 - - - - - - - - - 15.89 -
19057.71 267.46 10.13 2135 19063.33 roll 1.62 - - 2542.25 - 3.63 0.057 2222.75 409.6 107.34 - - 2052.91 - - - - - - - - - 15.91 -
19362.79 243.87 7.23 2166 19364.12 no move 1.65 - - 2542.19 - - - 2222.94 - 107.34 - - 2054.44 - - - - - - - - - - -
19662.84 223.19 6.75 2196 19668.53 done 1.69 - - 2542.62 - 4.17 0.132 735.00 -356.8 107.34 - - 2053.47 - - - - - - - - - 15.91 -
19777.88 213.61 8.22 2219 19783.49 done 1.69 - - 2542.69 - 3.63 0.057 2222.56 409.8 107.34 - - 2055.72 - - - - - - - - - 15.94 -
20082.96 192.44 6.42 2250 20087.52 done 1.73 - - 2542.94 - 3.41 0.121 3473.81 366.9 107.34 - - 2055.06 - - - - - - - - - 15.99 -
20306.97 176.44 7.15 2295 20313.74 done 1.76 - - 2542.44 - 3.24 0.056 2178.38 -399.8 107.34 - - 2055.09 - - - - - - - - - 15.97 -
20613.11 157.66 5.74 2326 20643.95 1.86 0.31 0.082 2600.56 187.5 - - 2178.25 - 140.24 28.94 1.307 1927.62 -4.4 0.090 - - - - - - 15.91 - 12.41
20943.16 123.40 11.58 2359 20948.76 roll 1.86 - - 2599.31 - 3.59 0.118 3472.88 360.6 140.24 - - 1921.19 - - - - - - - - - 15.79 -
21022.03 114.38 11.35 2375 21028.88 roll 1.86 - - 2601.38 - 3.25 0.057 2179.69 -397.9 140.24 - - 1921.47 - - - - - - - - - 15.88 -
21328.33 88.63 5.20 2423 21369.88 done 1.98 - - 2601.25 - 4.18 0.133 734.19 -345.8 180.93 34.77 1.213 1760.38 -4.6 0.057 - - - - - - - 15.50 12.43
21593.32 74.10 6.82 2476 21599.12 roll back 2.02 0.17 0.095 2640.81 232.7 3.66 0.053 2223.62 406.9 180.93 - - 1756.19 - - - - - - - - 15.79 15.66 -
21778.36 65.70 4.39 2513 21829.73 2.18 0.17 0.095 2679.06 225.0 3.45 0.118 3473.44 362.3 233.19 43.19 1.196 1547.75 -4.8 0.045 - - - - - - 15.88 15.71 12.74
22053.40 40.62 9.30 2568 22059.10 roll 2.18 - - 2679.12 - 3.30 0.055 2178.19 -392.5 233.19 - - 1542.69 - - - - - - - - - 15.77 -
22238.44 26.74 7.69 2605 22244.41 roll 2.18 - - 2679.62 - 4.09 0.132 737.50 -352.2 233.19 - - 1541.88 - - - - - - - - - 15.74 -
22338.45 17.61 9.88 2625 22344.23 roll 2.18 - - 2679.12 - 3.63 0.051 2223.19 409.3 233.19 - - 1541.38 - - - - - - - - - 15.76 -
22503 end climb: SURFACE_DEPTH_REACHED
22503 begin surface coast
22523 end surface coast: CONTROL_FINISHED_OK
22523 begin surface
SM 0.83 - - - - 172.9 0.28 0.161 768.8 2745.7 16.27 0.078 766.1 47.1 - 0.34 0.086 771.6 2258.7 -2.228 - - 15.41 15.85 15.89 -