NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 442 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 131.13 of 575.00 AH used of 24V (77.20% remains)
• Surface angle -62.8 deg, depth 0.55 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.80 (SM_CC=425)
• GPS1 time: 30 s
• GPS2 time: 3 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
7.12 - - - 85.67 VBD -1.25 - - 171.50 - - - 2116.81 - -77.86 77.98 0.005 2446.81 - - - - - - - - - - 15.31
85.94 3.07 -4.01 15 118.92 -1.25 14.53 0.265 1835.38 114.5 4.26 0.155 663.50 -341.2 -77.86 9.80 0.007 2818.25 37.9 -2.880 - - - - - - 15.44 15.30 15.36
196.77 26.41 -23.48 37 202.55 roll -1.25 - - 1834.75 - 3.60 0.056 2116.56 403.6 -77.86 - - 2817.78 - - - - - - - - - 15.62 -
381.84 64.50 -20.63 74 383.17 no move -1.25 - - 1836.12 - - - 2116.94 - -77.86 - - 2817.12 - - - - - - - - - - -
561.92 90.24 -11.58 110 567.79 roll -1.25 - - 1835.75 - 4.16 0.148 662.31 -349.7 -77.86 - - 2819.53 - - - - - - - - - 15.71 -
641.95 100.07 -12.20 126 646.62 roll -1.25 - - 1834.94 - 3.55 0.052 2115.75 409.4 -77.86 - - 2816.41 - - - - - - - - - 15.76 -
952.02 133.96 -11.93 158 957.71 roll -1.25 - - 1836.12 - 3.64 0.113 3472.88 372.8 -77.86 - - 2816.50 - - - - - - - - - 15.80 -
1130.94 155.20 -11.36 194 1137.83 roll -1.25 - - 1835.50 - 3.41 0.060 2082.56 -407.7 -77.86 - - 2819.28 - - - - - - - - - 15.84 -
1437.14 186.23 -11.13 225 1438.47 no move -1.25 - - 1836.19 - - - 2082.38 - -77.86 - - 2817.97 - - - - - - - - - - -
1737.18 220.87 -11.81 255 1738.50 no move -1.25 - - 1835.88 - - - 2082.19 - -77.86 - - 2817.53 - - - - - - - - - - -
2037.21 255.35 -10.94 285 2038.54 no move -1.25 - - 1834.88 - - - 2081.94 - -77.86 - - 2815.91 - - - - - - - - - - -
2337.24 287.18 -10.82 315 2338.57 no move -1.25 - - 1835.88 - - - 2082.31 - -77.86 - - 2817.59 - - - - - - - - - - -
2637.29 319.37 -10.84 345 2638.62 no move -1.25 - - 1835.69 - - - 2082.19 - -77.86 - - 2815.66 - - - - - - - - - - -
2937.32 352.36 -11.74 375 2938.65 no move -1.25 - - 1835.75 - - - 2082.12 - -77.86 - - 2817.53 - - - - - - - - - - -
3237.36 387.23 -11.58 405 3238.69 no move -1.25 - - 1835.69 - - - 2082.44 - -77.86 - - 2817.53 - - - - - - - - - - -
3537.39 419.81 -10.78 435 3538.72 no move -1.25 - - 1835.44 - - - 2082.50 - -77.86 - - 2817.53 - - - - - - - - - - -
3837.43 450.78 -10.01 465 3838.75 no move -1.25 - - 1835.69 - - - 2082.38 - -77.86 - - 2817.22 - - - - - - - - - - -
4137.45 478.45 -8.75 495 4138.78 no move -1.25 - - 1835.19 - - - 2082.31 - -77.86 - - 2816.62 - - - - - - - - - - -
4437.49 504.66 -8.62 525 4438.81 no move -1.25 - - 1835.62 - - - 2082.00 - -77.86 - - 2816.19 - - - - - - - - - - -
4737.52 530.62 -8.20 555 4743.29 roll -1.25 - - 1835.44 - 4.09 0.163 663.38 -346.9 -77.86 - - 2815.19 - - - - - - - - - 15.87 -
4776.46 534.92 -10.11 563 4783.29 roll -1.25 - - 1835.69 - 3.57 0.060 2117.25 407.2 -77.86 - - 2815.59 - - - - - - - - - 15.94 -
5082.56 562.72 -8.94 594 5088.35 roll -1.25 - - 1835.50 - 4.18 0.160 663.62 -347.8 -77.86 - - 2817.69 - - - - - - - - - 15.87 -
5137.65 568.49 -10.18 605 5143.28 roll -1.25 - - 1835.62 - 3.56 0.060 2117.38 408.4 -77.86 - - 2813.75 - - - - - - - - - 15.93 -
5442.61 595.09 -8.95 636 5443.94 no move -1.25 - - 1835.81 - - - 2117.81 - -77.86 - - 2815.06 - - - - - - - - - - -
5742.64 620.76 -9.08 666 5748.43 roll -1.25 - - 1836.00 - 4.14 0.163 664.56 -351.0 -77.86 - - 2814.69 - - - - - - - - - 15.86 -
5841.61 630.47 -10.13 686 5848.44 roll -1.25 - - 1835.81 - 3.54 0.061 2118.19 410.6 -77.86 - - 2814.59 - - - - - - - - - 15.93 -
6147.75 655.78 -9.14 717 6149.07 no move -1.25 - - 1835.69 - - - 2117.81 - -77.86 - - 2813.28 - - - - - - - - - - -
6447.81 681.85 -9.18 747 6453.59 roll -1.25 - - 1835.38 - 4.17 0.165 664.50 -348.5 -77.86 - - 2812.72 - - - - - - - - - 15.86 -
6526.75 689.93 -9.64 763 6533.60 roll -1.25 - - 1835.69 - 3.55 0.065 2118.19 409.5 -77.86 - - 2813.31 - - - - - - - - - 15.93 -
6832.90 717.66 -8.28 794 6834.23 no move -1.25 - - 1835.94 - - - 2118.12 - -77.86 - - 2813.94 - - - - - - - - - - -
7132.96 741.79 -7.40 824 7134.29 no move -1.25 - - 1835.94 - - - 2117.69 - -77.86 - - 2811.50 - - - - - - - - - - -
7433.03 763.93 -7.46 854 7434.36 no move -1.25 - - 1835.75 - - - 2118.38 - -77.86 - - 2811.94 - - - - - - - - - - -
7733.07 786.40 -7.89 884 7738.86 roll -1.25 - - 1835.38 - 4.16 0.171 663.44 -349.7 -77.86 - - 2812.22 - - - - - - - - - 15.84 -
7788.17 792.15 -10.25 895 7793.79 roll -1.25 - - 1835.38 - 3.57 0.069 2113.88 406.3 -77.86 - - 2810.31 - - - - - - - - - 15.92 -
8093.15 818.54 -8.35 926 8094.48 no move -1.25 - - 1835.25 - - - 2114.81 - -77.86 - - 2811.81 - - - - - - - - - - -
8393.18 845.84 -8.40 956 8394.51 no move -1.25 - - 1835.81 - - - 2115.06 - -77.86 - - 2811.78 - - - - - - - - - - -
8693.22 870.78 -7.20 986 8699.01 roll -1.25 - - 1835.31 - 4.16 0.174 663.88 -348.8 -77.86 - - 2810.34 - - - - - - - - - 15.83 -
8738.24 875.31 -10.01 995 8743.91 roll -1.25 - - 1834.00 - 3.59 0.068 2115.75 404.4 -77.86 - - 2810.47 - - - - - - - - - 15.91 -
9043.28 898.72 -5.98 1026 9044.60 no move -1.25 - - 1836.00 - - - 2115.50 - -77.86 - - 2810.91 - - - - - - - - - - -
9343.29 923.36 -7.99 1056 9344.62 no move -1.25 - - 1835.75 - - - 2116.00 - -77.86 - - 2809.25 - - - - - - - - - - -
9643.33 948.54 -7.86 1086 9649.15 roll -1.25 - - 1835.50 - 4.22 0.178 664.56 -343.9 -77.86 - - 2811.00 - - - - - - - - - 15.82 -
9698.45 954.16 -9.92 1097 9703.36 roll -1.25 - - 1835.50 - 3.57 0.071 2114.75 406.2 -77.86 - - 2812.19 - - - - - - - - - 15.91 -
10008.38 981.03 -7.75 1129 10009.71 no move -1.25 - - 1835.56 - - - 2114.38 - -77.86 - - 2808.91 - - - - - - - - - - -
10118 end dive: TARGET_DEPTH_EXCEEDED
10118 begin apogee
10119.64 990.26 -8.68 1140 10190.23 -0.25 1.81 0.149 2080.12 135.1 0.08 0.298 2185.81 892.9 - 66.68 2.279 2500.97 -4.6 0.348 - - - - - - 15.83 15.10 12.21
10191 end apogee: CONTROL_FINISHED_OK
10191 begin climb
10192.18 991.37 - 1147 10271.71 1.25 2.63 0.088 2447.88 139.8 - - 2184.94 - 77.86 75.01 2.211 2179.91 -4.3 0.332 - - - - - - 15.19 - 12.44
10568.43 965.50 7.94 1185 10574.06 done 1.25 - - 2447.81 - 3.67 0.134 3473.25 351.0 77.86 - - 2172.41 - - - - - - - - - 15.52 -
10673.44 956.05 8.83 1206 10678.10 done 1.25 - - 2447.94 - 3.27 0.067 2183.12 -394.5 77.86 - - 2171.03 - - - - - - - - - 15.59 -
10983.48 930.37 8.76 1238 10984.82 VBD 1.25 - - 2446.75 - - - 2182.94 - 77.86 - - 2167.81 - - - - - - - - - - -
11283.52 903.23 9.95 1268 11289.14 done 1.25 - - 2447.12 - 3.61 0.131 3473.19 357.4 77.86 - - 2169.50 - - - - - - - - - 15.75 -
11378.54 893.36 11.27 1287 11383.23 done 1.25 - - 2447.94 - 3.23 0.065 2183.69 -399.2 77.86 - - 2166.88 - - - - - - - - - 15.78 -
11688.57 864.30 9.09 1319 11689.90 VBD 1.25 - - 2447.25 - - - 2183.75 - 77.86 - - 2164.69 - - - - - - - - - - -
11988.62 839.55 7.54 1349 11994.20 done 1.27 - - 2447.06 - 3.59 0.130 3474.19 359.5 77.86 - - 2165.88 - - - - - - - - - 15.82 -
12083.68 831.87 8.90 1368 12088.24 done 1.27 - - 2447.50 - 3.21 0.066 2182.69 -402.3 77.86 - - 2164.94 - - - - - - - - - 15.83 -
12393.67 810.65 5.81 1400 12424.29 VBD 1.36 - - 2447.44 - - - 2183.12 - 109.78 28.01 2.011 2053.84 -4.0 0.277 - - - - - - - - 12.35
12723.75 784.26 8.31 1433 12725.08 no move 1.36 - - 2447.56 - - - 2183.00 - 109.78 - - 2046.69 - - - - - - - - - - -
13023.78 757.14 9.19 1463 13029.41 roll 1.36 - - 2448.12 - 3.63 0.131 3474.12 355.7 109.78 - - 2044.75 - - - - - - - - - 15.75 -
13142.81 743.75 11.51 1487 13149.54 roll 1.36 - - 2447.88 - 3.26 0.065 2183.25 -396.0 109.78 - - 2045.44 - - - - - - - - - 15.78 -
13448.89 712.99 10.39 1518 13450.23 VBD 1.36 - - 2448.25 - - - 2183.62 - 109.78 - - 2044.81 - - - - - - - - - - -
13748.95 685.00 9.86 1548 13754.58 done 1.36 - - 2447.69 - 3.62 0.130 3472.62 356.1 109.78 - - 2042.16 - - - - - - - - - 15.82 -
13847.96 674.96 10.04 1568 13854.69 done 1.36 - - 2447.94 - 3.23 0.064 2182.12 -399.5 109.78 - - 2044.09 - - - - - - - - - 15.85 -
14154.13 649.50 8.07 1599 14155.46 VBD 1.36 - - 2447.31 - - - 2181.88 - 109.78 - - 2043.25 - - - - - - - - - - -
14454.12 626.57 7.21 1629 14455.59 1.39 0.19 0.111 2486.94 208.6 - - 2182.25 - 109.78 - - 2042.94 - - - - - - - - 15.85 - -
14754.16 600.65 8.85 1659 14760.01 done 1.39 - - 2486.12 - 4.08 0.142 736.38 -354.4 109.78 - - 2043.19 - - - - - - - - - 15.85 -
14829.17 592.83 9.97 1674 14834.80 done 1.39 - - 2486.44 - 3.65 0.062 2219.00 406.2 109.78 - - 2043.84 - - - - - - - - - 15.89 -
15134.22 563.81 9.95 1705 15135.55 VBD 1.39 - - 2486.31 - - - 2218.88 - 109.78 - - 2040.22 - - - - - - - - - - -
15434.25 533.43 10.16 1735 15438.84 done 1.39 - - 2486.81 - 3.49 0.128 3473.69 359.5 109.78 - - 2041.78 - - - - - - - - - 15.87 -
15554.26 520.46 10.61 1759 15558.96 done 1.39 - - 2486.75 - 3.21 0.062 2181.19 -402.6 109.78 - - 2043.69 - - - - - - - - - 15.88 -
15864.31 490.27 9.28 1791 15865.64 VBD 1.39 - - 2486.62 - - - 2180.56 - 109.78 - - 2041.69 - - - - - - - - - - -
16164.34 464.85 8.07 1821 16169.95 done 1.39 - - 2484.75 - 3.58 0.123 3472.25 360.8 109.78 - - 2040.94 - - - - - - - - - 15.87 -
16383.38 446.08 8.22 1865 16390.22 done 1.39 - - 2485.38 - 3.23 0.061 2181.19 -399.7 109.78 - - 2042.22 - - - - - - - - - 15.88 -
16689.45 425.99 5.77 1896 16723.82 done 1.49 - - 2486.69 - 3.61 0.123 3474.12 358.2 142.32 29.56 1.608 1916.75 -4.2 0.195 - - - - - - - 15.58 12.30
16741.60 422.14 6.95 1905 16746.27 roll 1.52 - - 2485.50 - 3.28 0.059 2180.50 -394.4 142.32 - - 1917.75 - - - - - - - - - 15.62 -
17051.61 396.06 8.52 1937 17052.94 no move 1.52 - - 2486.50 - - - 2180.69 - 142.32 - - 1914.00 - - - - - - - - - - -
17351.64 369.45 8.75 1967 17352.97 no move 1.52 - - 2487.06 - - - 2181.00 - 142.32 - - 1913.25 - - - - - - - - - - -
17651.71 343.81 8.43 1997 17653.04 no move 1.52 - - 2486.62 - - - 2180.62 - 142.32 - - 1912.72 - - - - - - - - - - -
17951.77 318.00 8.89 2027 17953.10 no move 1.52 - - 2487.06 - - - 2180.38 - 142.32 - - 1911.19 - - - - - - - - - - -
18251.83 291.21 9.32 2057 18253.16 no move 1.52 - - 2486.94 - - - 2180.62 - 142.32 - - 1912.19 - - - - - - - - - - -
18551.90 262.59 9.65 2087 18553.22 no move 1.52 - - 2486.69 - - - 2180.94 - 142.32 - - 1911.16 - - - - - - - - - - -
18851.95 234.75 8.35 2117 18853.28 VBD 1.52 - - 2486.31 - - - 2181.00 - 142.32 - - 1910.38 - - - - - - - - - - -
19152.01 208.82 8.02 2147 19153.34 VBD 1.52 - - 2486.69 - - - 2180.94 - 142.32 - - 1910.28 - - - - - - - - - - -
19452.11 186.48 6.98 2177 19453.58 pitch 1.55 0.19 0.096 2523.69 194.7 - - 2181.44 - 142.32 - - 1912.19 - - - - - - - - 15.84 - -
19752.14 161.04 8.68 2207 19753.47 VBD 1.55 - - 2523.75 - - - 2181.00 - 142.32 - - 1911.72 - - - - - - - - - - -
20052.17 133.89 9.12 2237 20058.01 done 1.55 - - 2523.69 - 4.08 0.133 735.81 -354.2 142.32 - - 1910.31 - - - - - - - - - 15.81 -
20207.24 121.60 7.16 2268 20212.84 done 1.58 - - 2523.56 - 3.64 0.056 2224.19 408.9 142.32 - - 1911.03 - - - - - - - - - 15.87 -
20512.27 106.01 5.72 2299 20542.89 VBD 1.68 - - 2523.56 - - - 2223.94 - 175.56 28.58 1.220 1783.25 -4.5 0.067 - - - - - - - - 12.34
20842.32 87.17 4.31 2355 20894.15 1.84 0.41 0.070 2595.19 174.7 3.52 0.118 3473.25 354.9 228.91 45.19 1.210 1566.62 -4.8 0.060 - - - - - - 15.73 15.39 12.42
21117.47 67.77 4.64 2410 21164.14 1.98 0.16 0.096 2626.56 196.1 3.30 0.054 2176.56 -392.9 277.58 40.94 1.163 1368.06 -4.9 0.049 - - - - - - 15.56 15.62 12.35
21342.40 50.39 9.70 2455 21348.17 roll 1.98 - - 2626.62 - 3.63 0.112 3473.00 357.1 277.58 - - 1363.06 - - - - - - - - - 15.56 -
21572.47 24.21 11.99 2501 21578.17 done 1.98 - - 2626.81 - 3.28 0.056 2180.06 -394.2 277.58 - - 1360.38 - - - - - - - - - 15.66 -
21757.50 3.65 10.55 2538 21763.25 done 1.98 - - 2627.62 - 3.53 0.109 3475.00 366.8 277.58 - - 1360.78 - - - - - - - - - 15.68 -
21772 end climb: SURFACE_DEPTH_REACHED
21772 begin surface coast
21792 end surface coast: CONTROL_FINISHED_OK
21792 begin surface
SM 0.48 - - - - 173.9 2.12 0.298 768.2 362.4 16.49 0.054 765.4 46.4 - 3.49 0.061 771.1 219.9 -0.177 - - 12.28 15.70 15.74 -