NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 444 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 131.76 of 575.00 AH used of 24V (77.09% remains)
• Surface angle -63.0 deg, depth 0.47 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 425.09 (SM_CC=425)
• GPS1 time: 59 s
• GPS2 time: 5 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
7.06 - - - 85.78 VBD -1.25 - - 172.69 - - - 2116.00 - -77.86 78.11 0.005 2455.62 - - - - - - - - - - 15.31
86.05 3.14 -3.62 15 117.89 -1.25 14.32 0.252 1837.25 116.2 3.87 0.118 3472.50 350.5 -77.86 9.37 0.007 2816.25 38.5 -2.966 - - - - - - 15.45 15.31 15.36
135.69 13.74 -19.88 25 141.39 roll -1.25 - - 1837.00 - 3.53 0.061 2083.81 -393.4 -77.86 - - 2817.25 - - - - - - - - - 15.59 -
320.72 50.72 -19.77 62 322.05 no move -1.25 - - 1836.81 - - - 2083.69 - -77.86 - - 2817.38 - - - - - - - - - - -
500.79 82.62 -15.25 98 506.60 roll -1.25 - - 1836.81 - 3.86 0.111 3472.81 359.9 -77.86 - - 2817.28 - - - - - - - - - 15.74 -
674.79 110.23 -12.21 133 681.60 roll -1.25 - - 1836.62 - 3.47 0.060 2082.44 -400.7 -77.86 - - 2819.16 - - - - - - - - - 15.77 -
980.93 139.94 -10.93 164 982.26 no move -1.25 - - 1836.56 - - - 2081.81 - -77.86 - - 2817.53 - - - - - - - - - - -
1280.99 170.44 -9.34 194 1286.73 roll -1.25 - - 1836.44 - 3.83 0.113 3474.38 363.6 -77.86 - - 2818.25 - - - - - - - - - 15.85 -
1329.94 175.90 -11.09 204 1336.76 roll -1.25 - - 1837.44 - 3.44 0.060 2081.38 -404.9 -77.86 - - 2817.75 - - - - - - - - - 15.85 -
1636.08 206.89 -10.75 235 1641.80 roll -1.25 - - 1836.44 - 3.84 0.113 3473.75 362.6 -77.86 - - 2819.84 - - - - - - - - - 15.88 -
1701.12 215.30 -12.34 248 1705.76 roll -1.25 - - 1837.12 - 3.45 0.060 2082.56 -403.2 -77.86 - - 2817.66 - - - - - - - - - 15.88 -
2011.13 249.93 -10.90 280 2012.46 no move -1.25 - - 1837.00 - - - 2082.62 - -77.86 - - 2817.47 - - - - - - - - - - -
2311.16 278.97 -9.41 310 2316.89 roll -1.25 - - 1836.81 - 3.86 0.115 3474.56 360.6 -77.86 - - 2816.41 - - - - - - - - - 15.90 -
2340.09 282.04 -10.28 316 2346.91 roll -1.25 - - 1835.50 - 3.45 0.062 2081.00 -403.9 -77.86 - - 2818.31 - - - - - - - - - 15.91 -
2646.21 312.30 -9.81 347 2651.94 roll -1.25 - - 1836.75 - 3.84 0.116 3473.81 362.7 -77.86 - - 2816.44 - - - - - - - - - 15.90 -
2705.14 319.62 -12.26 359 2711.96 roll -1.25 - - 1837.25 - 3.43 0.062 2082.44 -405.6 -77.86 - - 2818.41 - - - - - - - - - 15.92 -
3011.25 353.42 -12.17 390 3012.58 no move -1.25 - - 1837.44 - - - 2082.38 - -77.86 - - 2817.38 - - - - - - - - - - -
3311.28 386.32 -10.30 420 3317.01 roll -1.25 - - 1837.00 - 3.81 0.118 3473.00 365.0 -77.86 - - 2817.88 - - - - - - - - - 15.91 -
3340.21 389.70 -11.24 426 3347.03 roll -1.25 - - 1837.19 - 3.42 0.064 2083.62 -406.3 -77.86 - - 2817.56 - - - - - - - - - 15.92 -
3646.32 418.20 -8.81 457 3647.65 no move -1.25 - - 1837.00 - - - 2083.75 - -77.86 - - 2817.22 - - - - - - - - - - -
3946.36 444.32 -8.40 487 3952.12 roll -1.25 - - 1837.19 - 4.08 0.162 662.31 -348.4 -77.86 - - 2815.38 - - - - - - - - - 15.87 -
4045.21 454.41 -10.39 507 4052.14 roll -1.25 - - 1837.31 - 3.55 0.058 2118.62 410.2 -77.86 - - 2816.62 - - - - - - - - - 15.93 -
4351.41 480.77 -9.59 538 4357.19 roll -1.25 - - 1836.69 - 4.15 0.159 663.69 -350.6 -77.86 - - 2818.44 - - - - - - - - - 15.86 -
4416.50 487.94 -11.74 551 4422.10 roll -1.25 - - 1837.44 - 3.53 0.057 2119.00 412.3 -77.86 - - 2818.56 - - - - - - - - - 15.93 -
4721.46 517.26 -9.08 582 4722.79 no move -1.25 - - 1837.12 - - - 2118.31 - -77.86 - - 2814.59 - - - - - - - - - - -
5021.50 544.44 -8.87 612 5027.28 roll -1.25 - - 1836.69 - 4.18 0.162 663.88 -347.9 -77.86 - - 2813.59 - - - - - - - - - 15.86 -
5046.52 546.61 -8.87 617 5051.18 roll -1.25 - - 1837.44 - 3.54 0.058 2115.69 410.1 -77.86 - - 2813.59 - - - - - - - - - 15.93 -
5356.55 575.44 -9.45 649 5357.88 no move -1.25 - - 1837.19 - - - 2117.88 - -77.86 - - 2814.12 - - - - - - - - - - -
5656.57 603.65 -9.46 679 5657.89 no move -1.25 - - 1837.31 - - - 2117.81 - -77.86 - - 2814.78 - - - - - - - - - - -
5956.61 627.81 -8.26 709 5962.40 roll -1.25 - - 1837.12 - 4.19 0.166 663.75 -347.0 -77.86 - - 2813.06 - - - - - - - - - 15.86 -
6001.65 632.14 -10.18 718 6007.32 roll -1.25 - - 1837.12 - 3.56 0.061 2116.75 408.1 -77.86 - - 2812.69 - - - - - - - - - 15.93 -
6306.70 659.53 -10.13 749 6308.03 no move -1.25 - - 1836.75 - - - 2116.50 - -77.86 - - 2813.94 - - - - - - - - - - -
6606.76 684.27 -8.44 779 6612.55 roll -1.25 - - 1837.31 - 4.20 0.167 664.56 -345.7 -77.86 - - 2812.28 - - - - - - - - - 15.85 -
6705.72 694.71 -9.48 799 6712.56 roll -1.25 - - 1835.38 - 3.55 0.065 2115.44 408.7 -77.86 - - 2814.44 - - - - - - - - - 15.92 -
7011.86 715.51 -6.27 830 7013.19 no move -1.25 - - 1837.06 - - - 2115.69 - -77.86 - - 2811.72 - - - - - - - - - - -
7311.92 738.40 -8.34 860 7313.25 no move -1.25 - - 1837.00 - - - 2116.94 - -77.86 - - 2812.16 - - - - - - - - - - -
7611.99 764.54 -9.00 890 7613.31 no move -1.25 - - 1836.88 - - - 2117.06 - -77.86 - - 2811.56 - - - - - - - - - - -
7912.04 789.05 -7.51 920 7913.37 no move -1.25 - - 1836.88 - - - 2116.88 - -77.86 - - 2812.25 - - - - - - - - - - -
8212.10 811.93 -7.14 950 8213.42 no move -1.25 - - 1837.06 - - - 2117.12 - -77.86 - - 2812.16 - - - - - - - - - - -
8512.13 834.90 -8.29 980 8513.46 no move -1.25 - - 1837.12 - - - 2117.00 - -77.86 - - 2811.84 - - - - - - - - - - -
8812.42 860.86 -9.14 1010 8813.75 no move -1.25 - - 1837.00 - - - 2117.44 - -77.86 - - 2811.66 - - - - - - - - - - -
9112.20 887.78 -7.97 1040 9113.52 no move -1.25 - - 1836.75 - - - 2116.88 - -77.86 - - 2811.12 - - - - - - - - - - -
9412.23 910.32 -6.68 1070 9413.56 no move -1.25 - - 1836.69 - - - 2116.75 - -77.86 - - 2809.31 - - - - - - - - - - -
9712.27 934.73 -8.38 1100 9718.00 roll -1.25 - - 1837.56 - 3.74 0.135 3473.62 362.8 -77.86 - - 2809.47 - - - - - - - - - 15.89 -
9811.20 944.60 -11.04 1120 9818.03 roll -1.25 - - 1837.00 - 3.48 0.077 2085.62 -398.9 -77.86 - - 2812.50 - - - - - - - - - 15.91 -
10117.33 966.12 -7.03 1151 10118.66 no move -1.25 - - 1837.25 - - - 2085.94 - -77.86 - - 2808.84 - - - - - - - - - - -
10417.35 987.47 -6.37 1181 10418.68 no move -1.25 - - 1836.75 - - - 2085.44 - -77.86 - - 2810.19 - - - - - - - - - - -
10457 end dive: TARGET_DEPTH_EXCEEDED
10457 begin apogee
10458.63 990.43 -7.38 1185 10529.35 -0.25 1.78 0.143 2080.75 137.1 0.08 0.290 2187.56 1276.5 - 67.44 2.279 2501.34 -4.6 0.342 - - - - - - 15.84 15.10 12.23
10531 end apogee: CONTROL_FINISHED_OK
10531 begin climb
10531.29 991.68 - 1192 10609.99 1.25 2.55 0.077 2447.62 143.9 - - 2186.62 - 77.86 75.04 2.214 2182.16 -4.3 0.327 - - - - - - 15.18 - 12.40
10907.89 959.56 8.53 1232 10909.22 VBD 1.25 - - 2448.81 - - - 2187.19 - 77.86 - - 2171.06 - - - - - - - - - - -
11207.95 933.73 8.17 1262 11213.58 done 1.25 - - 2448.69 - 3.67 0.132 3471.44 349.9 77.86 - - 2169.88 - - - - - - - - - 15.67 -
11347.00 920.69 8.63 1290 11353.72 done 1.25 - - 2448.50 - 3.24 0.067 2183.31 -397.6 77.86 - - 2167.53 - - - - - - - - - 15.72 -
11653.08 893.85 8.98 1321 11654.41 VBD 1.25 - - 2448.88 - - - 2183.00 - 77.86 - - 2167.19 - - - - - - - - - - -
11953.11 866.52 9.51 1351 11958.73 done 1.25 - - 2449.44 - 3.65 0.130 3473.75 353.6 77.86 - - 2164.94 - - - - - - - - - 15.79 -
12028.16 858.96 11.94 1366 12032.95 done 1.25 - - 2448.50 - 3.23 0.065 2182.12 -399.9 77.86 - - 2166.53 - - - - - - - - - 15.82 -
12338.16 832.02 7.98 1398 12339.49 VBD 1.25 - - 2449.25 - - - 2182.38 - 77.86 - - 2164.94 - - - - - - - - - - -
12638.44 803.93 9.55 1428 12643.81 done 1.25 - - 2448.69 - 3.65 0.130 3472.31 353.4 77.86 - - 2163.50 - - - - - - - - - 15.80 -
12763.22 790.40 10.51 1453 12767.91 done 1.25 - - 2449.00 - 3.23 0.065 2182.69 -399.3 77.86 - - 2165.19 - - - - - - - - - 15.84 -
13073.27 764.73 7.48 1485 13077.99 done 1.27 - - 2449.50 - 3.59 0.129 3473.81 359.6 77.86 - - 2164.69 - - - - - - - - - 15.84 -
13143.28 758.63 8.01 1499 13147.93 done 1.27 - - 2448.38 - 3.18 0.063 2180.50 -406.7 77.86 - - 2166.28 - - - - - - - - - 15.86 -
13453.29 735.55 8.41 1531 13454.62 VBD 1.27 - - 2449.12 - - - 2180.56 - 77.86 - - 2163.28 - - - - - - - - - - -
13753.34 715.44 6.38 1561 13758.07 done 1.32 - - 2448.81 - 3.59 0.129 3473.56 360.2 77.86 - - 2162.94 - - - - - - - - - 15.85 -
13963.39 699.58 6.88 1603 13968.06 done 1.35 - - 2448.88 - 3.21 0.065 2181.25 -402.6 77.86 - - 2163.03 - - - - - - - - - 15.86 -
14273.42 680.09 5.92 1635 14305.92 1.45 0.26 0.087 2500.69 199.3 4.13 0.144 736.31 -349.9 108.26 26.09 1.869 2056.16 -4.1 0.256 - - - - - - 15.86 15.57 12.30
14452.66 661.22 12.42 1671 14459.58 roll 1.45 - - 2502.50 - 3.67 0.060 2218.31 403.8 108.26 - - 2052.91 - - - - - - - - - 15.69 -
14758.87 630.76 10.02 1702 14760.20 no move 1.45 - - 2502.88 - - - 2218.38 - 108.26 - - 2050.03 - - - - - - - - - - -
15058.93 601.20 10.02 1732 15064.77 roll 1.45 - - 2502.81 - 4.16 0.140 737.25 -356.0 108.26 - - 2051.03 - - - - - - - - - 15.77 -
15157.88 589.64 11.40 1752 15164.74 done 1.45 - - 2502.62 - 3.65 0.060 2220.31 406.3 108.26 - - 2050.09 - - - - - - - - - 15.82 -
15464.03 560.88 9.25 1783 15468.87 done 1.45 - - 2502.44 - 3.45 0.126 3473.06 363.1 108.26 - - 2051.09 - - - - - - - - - 15.81 -
15544.07 553.27 10.57 1799 15548.79 done 1.45 - - 2502.75 - 3.17 0.061 2178.81 -408.3 108.26 - - 2049.88 - - - - - - - - - 15.83 -
15854.10 526.41 8.50 1831 15859.71 done 1.45 - - 2501.81 - 3.53 0.122 3473.38 366.7 108.26 - - 2049.72 - - - - - - - - - 15.84 -
16029.16 509.86 8.83 1866 16033.83 done 1.45 - - 2502.88 - 3.16 0.061 2179.56 -409.4 108.26 - - 2049.97 - - - - - - - - - 15.85 -
16339.19 485.90 8.05 1898 16340.52 VBD 1.45 - - 2500.62 - - - 2179.50 - 108.26 - - 2048.56 - - - - - - - - - - -
16639.31 462.04 7.59 1928 16640.65 VBD 1.45 - - 2503.06 - - - 2179.75 - 108.26 - - 2048.31 - - - - - - - - - - -
16939.26 436.41 8.76 1958 16945.08 done 1.45 - - 2502.31 - 4.03 0.138 735.25 -358.4 108.26 - - 2050.16 - - - - - - - - - 15.81 -
17034.28 427.42 9.34 1977 17039.91 done 1.45 - - 2502.38 - 3.60 0.058 2223.31 413.3 108.26 - - 2047.62 - - - - - - - - - 15.87 -
17339.33 403.49 7.49 2008 17340.66 VBD 1.46 - - 2502.62 - - - 2223.44 - 108.26 - - 2048.50 - - - - - - - - - - -
17639.37 382.31 7.19 2038 17640.70 VBD 1.49 - - 2502.38 - - - 2223.50 - 108.26 - - 2048.62 - - - - - - - - - - -
17939.39 361.15 7.21 2068 17940.72 VBD 1.51 - - 2502.69 - - - 2223.38 - 108.26 - - 2048.25 - - - - - - - - - - -
18239.43 340.22 6.84 2098 18240.76 VBD 1.55 - - 2502.56 - - - 2223.44 - 108.26 - - 2046.66 - - - - - - - - - - -
18539.46 320.68 5.90 2128 18570.13 1.64 0.22 0.081 2548.19 207.4 - - 2223.81 - 138.89 27.73 1.480 1932.91 -4.1 0.153 - - - - - - 15.87 - 12.23
18869.48 290.14 9.49 2161 18874.05 roll 1.64 - - 2548.12 - 3.44 0.120 3474.62 363.6 138.89 - - 1925.94 - - - - - - - - - 15.73 -
18933.35 283.35 11.20 2174 18940.18 roll 1.64 - - 2547.25 - 3.20 0.057 2177.69 -405.3 138.89 - - 1929.31 - - - - - - - - - 15.75 -
19239.53 251.53 10.26 2205 19245.28 roll 1.64 - - 2547.56 - 4.01 0.133 737.25 -359.2 138.89 - - 1926.66 - - - - - - - - - 15.77 -
19364.58 234.37 13.83 2230 19370.31 roll 1.64 - - 2547.44 - 3.62 0.055 2221.56 410.0 138.89 - - 1925.19 - - - - - - - - - 15.80 -
19669.60 202.10 9.96 2261 19670.93 VBD 1.64 - - 2547.50 - - - 2221.31 - 138.89 - - 1925.62 - - - - - - - - - - -
19969.65 174.53 8.70 2291 19974.23 done 1.64 - - 2547.88 - 3.45 0.118 3472.88 362.8 138.89 - - 1925.22 - - - - - - - - - 15.75 -
20003.50 171.02 8.95 2298 20010.35 done 1.64 - - 2547.94 - 3.18 0.055 2179.06 -406.9 138.89 - - 1925.38 - - - - - - - - - 15.83 -
20309.72 144.48 8.57 2329 20311.05 VBD 1.64 - - 2548.75 - - - 2178.94 - 138.89 - - 1925.59 - - - - - - - - - - -
20609.80 120.91 7.48 2359 20615.75 done 1.66 - - 2548.00 - 4.03 0.131 736.38 -358.0 138.89 - - 1924.66 - - - - - - - - - 15.80 -
20684.81 113.25 10.60 2374 20690.44 done 1.66 - - 2547.81 - 3.61 0.055 2224.88 412.3 138.89 - - 1924.47 - - - - - - - - - 15.84 -
20989.93 94.05 5.17 2415 21031.37 done 1.78 - - 2547.69 - 3.47 0.117 3473.50 359.8 179.97 34.99 1.218 1765.25 -4.6 0.060 - - - - - - - 15.56 12.37
21255.00 72.40 8.22 2468 21260.71 roll 1.78 - - 2547.69 - 3.24 0.054 2179.12 -399.5 179.97 - - 1761.56 - - - - - - - - - 15.69 -
21440.10 63.12 4.19 2505 21492.95 1.95 0.41 0.060 2621.06 179.0 3.70 0.110 3473.62 349.9 235.01 46.65 1.176 1539.62 -4.8 0.044 - - - - - - 15.67 15.39 12.29
21570.74 55.90 6.27 2531 21576.46 roll 2.00 - - 2621.19 - 3.28 0.053 2177.44 -395.2 235.01 - - 1537.22 - - - - - - - - - 15.49 -
21755.82 48.81 4.34 2568 21801.86 2.16 0.27 0.068 2674.25 196.5 - - 2177.88 - 288.03 44.63 1.133 1326.12 -4.7 0.035 - - - - - - 15.63 - 12.34
21980.87 26.15 12.42 2613 21982.20 no move 2.16 - - 2674.19 - - - 2178.00 - 288.03 - - 1320.81 - - - - - - - - - - -
22160.96 2.69 14.22 2649 22162.28 no move 2.16 - - 2673.75 - - - 2178.06 - 288.03 - - 1319.66 - - - - - - - - - - -
22165 end climb: SURFACE_DEPTH_REACHED
22165 begin surface coast
22180 end surface coast: CONTROL_FINISHED_OK
22180 begin surface
SM 0.47 - - - - 174.3 117.00 1.084 767.1 6.6 16.83 0.053 768.9 45.7 - 0.22 0.112 765.2 3478.2 -1.492 - - 12.24 15.62 15.66 -