NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 199 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 62.84 of 575.00 AH used of 24V (89.07% remains)
• Surface angle -60.5 deg, depth 0.31 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.81 (SM_CC=425)
• GPS1 time: 18 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
6.59 - - - 79.56 VBD -1.25 - - 179.12 - - - 2121.06 - -77.86 72.36 0.005 2380.62 - - - - - - - - - - 15.61
79.88 3.46 -4.40 14 112.75 -1.25 13.66 0.258 1834.56 121.2 3.68 0.121 3472.81 367.3 -77.86 11.30 0.007 2817.78 38.7 -3.222 - - - - - - 15.61 15.60 15.64
240.51 40.82 -22.95 46 246.24 roll -1.25 - - 1835.75 - 3.45 0.065 2083.75 -402.6 -77.86 - - 2817.34 - - - - - - - - - 15.75 -
425.58 71.59 -14.52 83 431.35 roll -1.25 - - 1835.50 - 3.71 0.117 3472.75 374.4 -77.86 - - 2817.91 - - - - - - - - - 15.81 -
460.58 76.86 -15.09 90 466.31 roll -1.25 - - 1835.69 - 3.48 0.061 2085.19 -398.7 -77.86 - - 2818.16 - - - - - - - - - 15.82 -
650.61 103.06 -12.75 126 651.94 no move -1.25 - - 1835.75 - - - 2084.69 - -77.86 - - 2817.94 - - - - - - - - - - -
950.64 137.66 -10.56 156 956.42 roll -1.25 - - 1835.25 - 4.07 0.163 663.81 -349.1 -77.86 - - 2816.75 - - - - - - - - - 15.89 -
1009.53 145.23 -13.48 168 1016.43 roll -1.25 - - 1835.94 - 3.53 0.058 2120.44 412.6 -77.86 - - 2818.44 - - - - - - - - - 15.93 -
1315.73 178.32 -11.17 199 1317.05 no move -1.25 - - 1835.81 - - - 2121.38 - -77.86 - - 2818.84 - - - - - - - - - - -
1615.78 211.12 -10.91 229 1621.45 roll -1.25 - - 1835.12 - 3.60 0.121 3472.25 375.2 -77.86 - - 2818.91 - - - - - - - - - 15.98 -
1684.87 219.63 -12.26 243 1691.53 roll -1.25 - - 1835.81 - 3.38 0.062 2080.75 -411.7 -77.86 - - 2819.34 - - - - - - - - - 15.99 -
1990.85 253.79 -11.59 274 1992.18 no move -1.25 - - 1835.56 - - - 2080.69 - -77.86 - - 2818.53 - - - - - - - - - - -
2290.91 288.93 -11.76 304 2292.24 no move -1.25 - - 1835.31 - - - 2080.75 - -77.86 - - 2818.72 - - - - - - - - - - -
2591.02 323.11 -11.11 334 2592.35 no move -1.25 - - 1835.75 - - - 2080.38 - -77.86 - - 2818.44 - - - - - - - - - - -
2891.01 355.02 -9.82 364 2892.33 no move -1.25 - - 1835.94 - - - 2080.19 - -77.86 - - 2818.47 - - - - - - - - - - -
3191.06 384.92 -10.86 394 3196.83 roll -1.25 - - 1835.81 - 4.04 0.167 663.88 -350.6 -77.86 - - 2816.38 - - - - - - - - - 16.03 -
3256.16 392.63 -12.72 407 3261.68 roll -1.25 - - 1835.56 - 3.49 0.062 2118.50 416.8 -77.86 - - 2816.78 - - - - - - - - - 16.07 -
3561.14 424.38 -9.98 438 3562.47 no move -1.25 - - 1835.75 - - - 2118.56 - -77.86 - - 2817.50 - - - - - - - - - - -
3861.16 455.45 -10.63 468 3866.95 roll -1.25 - - 1835.56 - 4.16 0.168 663.12 -349.9 -77.86 - - 2816.19 - - - - - - - - - 16.04 -
3896.18 459.39 -12.61 475 3900.83 roll -1.25 - - 1835.19 - 3.50 0.061 2118.69 415.9 -77.86 - - 2818.25 - - - - - - - - - 16.08 -
4206.21 490.62 -10.17 507 4211.91 roll -1.25 - - 1835.19 - 3.61 0.130 3471.56 374.8 -77.86 - - 2815.12 - - - - - - - - - 16.07 -
4271.25 497.65 -11.38 520 4275.85 roll -1.25 - - 1835.69 - 3.39 0.068 2082.69 -409.7 -77.86 - - 2817.09 - - - - - - - - - 16.09 -
4581.25 527.66 -9.55 552 4582.58 no move -1.25 - - 1836.06 - - - 2083.06 - -77.86 - - 2816.50 - - - - - - - - - - -
4881.28 558.85 -9.77 582 4886.98 roll -1.25 - - 1833.81 - 3.70 0.130 3474.69 376.1 -77.86 - - 2817.53 - - - - - - - - - 16.08 -
4946.31 566.70 -12.43 595 4950.93 roll -1.25 - - 1835.44 - 3.38 0.069 2083.88 -411.5 -77.86 - - 2815.53 - - - - - - - - - 16.09 -
5256.33 599.56 -10.32 627 5257.66 no move -1.25 - - 1835.69 - - - 2083.75 - -77.86 - - 2816.53 - - - - - - - - - - -
5556.36 629.25 -9.00 657 5562.13 roll -1.25 - - 1835.69 - 4.05 0.180 663.00 -350.8 -77.86 - - 2814.66 - - - - - - - - - 16.06 -
5605.31 634.72 -10.98 667 5612.11 roll -1.25 - - 1835.31 - 3.48 0.067 2117.06 417.8 -77.86 - - 2815.62 - - - - - - - - - 16.10 -
5911.40 661.89 -10.23 698 5912.73 no move -1.25 - - 1835.62 - - - 2117.50 - -77.86 - - 2813.75 - - - - - - - - - - -
6211.43 687.69 -9.04 728 6212.76 no move -1.25 - - 1835.69 - - - 2118.06 - -77.86 - - 2812.50 - - - - - - - - - - -
6511.46 714.57 -8.97 758 6517.25 roll -1.25 - - 1835.00 - 4.06 0.179 662.62 -358.5 -77.86 - - 2812.62 - - - - - - - - - 16.06 -
6546.49 718.04 -9.91 765 6551.14 roll -1.25 - - 1835.12 - 3.52 0.070 2117.06 413.2 -77.86 - - 2813.84 - - - - - - - - - 16.10 -
6856.51 746.08 -9.06 797 6857.84 no move -1.25 - - 1836.12 - - - 2117.38 - -77.86 - - 2811.97 - - - - - - - - - - -
7156.54 772.42 -9.09 827 7162.33 roll -1.25 - - 1835.38 - 4.16 0.182 663.81 -349.4 -77.86 - - 2811.88 - - - - - - - - - 16.06 -
7235.48 779.74 -9.22 843 7242.31 roll -1.25 - - 1835.25 - 3.49 0.071 2115.75 416.0 -77.86 - - 2812.53 - - - - - - - - - 16.10 -
7541.60 804.56 -7.00 874 7542.92 no move -1.25 - - 1834.56 - - - 2115.31 - -77.86 - - 2813.91 - - - - - - - - - - -
7841.64 828.15 -7.53 904 7847.42 roll -1.25 - - 1836.00 - 4.12 0.182 663.88 -352.3 -77.86 - - 2811.44 - - - - - - - - - 16.06 -
7976.70 840.92 -9.70 931 7981.63 roll -1.25 - - 1835.00 - 3.55 0.073 2115.25 408.8 -77.86 - - 2810.69 - - - - - - - - - 16.10 -
8286.77 865.52 -6.56 963 8288.10 no move -1.25 - - 1835.44 - - - 2115.56 - -77.86 - - 2809.91 - - - - - - - - - - -
8586.80 888.02 -8.14 993 8592.59 roll -1.25 - - 1835.31 - 4.11 0.184 664.19 -353.1 -77.86 - - 2809.25 - - - - - - - - - 16.06 -
8691.84 896.59 -8.65 1014 8696.52 roll -1.25 - - 1835.06 - 3.52 0.074 2115.81 412.4 -77.86 - - 2811.34 - - - - - - - - - 16.09 -
9001.89 919.69 -9.26 1046 9003.22 no move -1.25 - - 1835.38 - - - 2116.06 - -77.86 - - 2809.53 - - - - - - - - - - -
9301.96 938.92 -5.13 1076 9303.29 no move -1.25 - - 1834.94 - - - 2116.31 - -77.86 - - 2810.31 - - - - - - - - - - -
9602.01 959.06 -5.88 1106 9607.70 roll -1.25 - - 1835.38 - 3.63 0.141 3473.81 374.0 -77.86 - - 2808.12 - - - - - - - - - 16.09 -
9687.11 965.57 -6.71 1123 9691.67 roll -1.25 - - 1834.69 - 3.40 0.077 2087.75 -407.7 -77.86 - - 2812.47 - - - - - - - - - 16.09 -
9997.10 987.58 -6.62 1155 9998.43 no move -1.25 - - 1835.56 - - - 2087.19 - -77.86 - - 2810.28 - - - - - - - - - - -
10026 end dive: TARGET_DEPTH_EXCEEDED
10027 begin apogee
10028.33 990.71 -8.30 1158 10095.15 -0.25 1.75 0.159 2080.88 140.2 0.08 0.312 2184.19 1212.5 - 63.95 2.301 2497.47 -4.9 0.355 - - - - - - 16.05 15.59 12.98
10096 end apogee: CONTROL_FINISHED_OK
10096 begin climb
10096.61 991.92 - 1164 10172.91 1.25 2.52 0.100 2448.31 145.8 - - 2185.25 - 77.86 72.22 2.223 2180.09 -4.4 0.330 - - - - - - 15.63 - 12.91
10469.56 962.98 9.08 1202 10470.89 VBD 1.25 - - 2448.38 - - - 2184.56 - 77.86 - - 2168.81 - - - - - - - - - - -
10769.60 931.83 10.66 1232 10775.21 done 1.25 - - 2448.00 - 3.55 0.138 3471.19 362.4 77.86 - - 2165.34 - - - - - - - - - 15.79 -
10974.68 906.30 11.85 1273 10979.22 done 1.25 - - 2447.12 - 3.22 0.069 2182.69 -400.2 77.86 - - 2167.97 - - - - - - - - - 15.82 -
11284.75 873.76 10.85 1305 11286.08 VBD 1.25 - - 2447.69 - - - 2183.06 - 77.86 - - 2163.78 - - - - - - - - - - -
11584.81 844.77 10.88 1335 11590.58 done 1.25 - - 2447.50 - 4.04 0.157 737.19 -357.9 77.86 - - 2161.72 - - - - - - - - - 15.92 -
11693.71 832.23 10.67 1357 11700.75 done 1.25 - - 2447.50 - 3.58 0.062 2217.88 413.6 77.86 - - 2162.75 - - - - - - - - - 15.94 -
11999.93 802.27 10.70 1388 12001.26 VBD 1.25 - - 2447.94 - - - 2217.69 - 77.86 - - 2160.50 - - - - - - - - - - -
12299.99 773.57 10.04 1418 12305.84 done 1.25 - - 2447.75 - 4.12 0.152 735.88 -359.7 77.86 - - 2161.91 - - - - - - - - - 15.98 -
12465.07 754.41 11.07 1451 12470.66 done 1.25 - - 2448.12 - 3.58 0.062 2217.81 413.9 77.86 - - 2160.28 - - - - - - - - - 16.01 -
12770.13 726.11 8.23 1482 12771.46 VBD 1.25 - - 2448.88 - - - 2217.31 - 77.86 - - 2159.47 - - - - - - - - - - -
13070.17 702.34 7.25 1512 13071.50 VBD 1.28 - - 2448.31 - - - 2217.25 - 77.86 - - 2160.50 - - - - - - - - - - -
13370.21 680.58 6.80 1542 13371.54 VBD 1.31 - - 2448.12 - - - 2217.19 - 77.86 - - 2160.16 - - - - - - - - - - -
13670.24 659.37 6.88 1572 13676.00 done 1.35 - - 2447.69 - 4.11 0.149 737.56 -360.0 77.86 - - 2161.88 - - - - - - - - - 16.01 -
13759.16 652.11 8.54 1590 13766.03 done 1.35 - - 2448.38 - 3.53 0.060 2220.19 420.0 77.86 - - 2159.88 - - - - - - - - - 16.04 -
14065.30 630.41 6.65 1621 14066.76 1.39 0.17 0.109 2484.75 213.9 - - 2220.75 - 77.86 - - 2160.00 - - - - - - - - 16.03 - -
14365.33 609.34 7.41 1651 14366.66 VBD 1.41 - - 2485.62 - - - 2220.88 - 77.86 - - 2158.22 - - - - - - - - - - -
14665.36 587.64 6.82 1681 14666.69 VBD 1.45 - - 2485.38 - - - 2220.38 - 77.86 - - 2158.16 - - - - - - - - - - -
14965.39 565.84 7.18 1711 14966.73 VBD 1.47 - - 2485.38 - - - 2220.88 - 77.86 - - 2158.59 - - - - - - - - - - -
15265.42 543.27 7.60 1741 15266.75 VBD 1.47 - - 2484.69 - - - 2220.38 - 77.86 - - 2161.38 - - - - - - - - - - -
15565.46 520.68 7.53 1771 15571.21 done 1.49 - - 2485.00 - 4.08 0.145 735.94 -363.8 77.86 - - 2159.47 - - - - - - - - - 16.06 -
15700.48 508.03 10.17 1798 15706.08 done 1.49 - - 2484.06 - 3.54 0.056 2221.69 419.7 77.86 - - 2158.19 - - - - - - - - - 16.08 -
16005.53 485.93 6.34 1829 16011.25 1.54 0.17 0.104 2523.94 234.6 4.05 0.142 736.31 -366.8 77.86 - - 2158.44 - - - - - - - - 16.06 16.06 -
16234.40 466.53 8.74 1875 16241.32 done 1.54 - - 2523.31 - 3.53 0.059 2220.06 420.3 77.86 - - 2158.34 - - - - - - - - - 16.07 -
16540.62 448.47 5.55 1906 16575.78 done 1.65 - - 2523.44 - 3.38 0.129 3472.75 370.6 113.61 29.27 1.622 2035.09 -4.2 0.196 - - - - - - - 15.85 13.01
16780.67 426.15 10.94 1954 16785.19 roll 1.65 - - 2524.12 - 3.12 0.060 2179.06 -414.6 113.61 - - 2031.22 - - - - - - - - - 15.94 -
17090.72 396.47 10.04 1986 17092.05 no move 1.65 - - 2524.38 - - - 2179.12 - 113.61 - - 2028.56 - - - - - - - - - - -
17390.78 366.75 9.76 2016 17392.11 VBD 1.65 - - 2524.25 - - - 2179.62 - 113.61 - - 2028.91 - - - - - - - - - - -
17690.84 338.01 10.26 2046 17696.51 done 1.65 - - 2523.69 - 3.94 0.144 736.19 -366.4 113.61 - - 2026.91 - - - - - - - - - 15.96 -
17769.78 328.80 11.34 2062 17776.65 done 1.65 - - 2524.31 - 3.55 0.057 2221.25 418.3 113.61 - - 2028.38 - - - - - - - - - 16.00 -
18075.94 300.57 9.28 2093 18080.72 done 1.65 - - 2523.56 - 3.35 0.124 3473.19 373.7 113.61 - - 2027.47 - - - - - - - - - 16.02 -
18180.03 289.28 10.53 2114 18186.66 done 1.65 - - 2524.06 - 3.12 0.058 2179.62 -414.6 113.61 - - 2027.31 - - - - - - - - - 16.01 -
18486.04 261.77 8.55 2145 18490.62 done 1.65 - - 2522.56 - 3.45 0.121 3473.69 375.1 113.61 - - 2028.81 - - - - - - - - - 16.03 -
18586.15 252.31 9.04 2165 18590.60 done 1.65 - - 2523.25 - 3.12 0.057 2176.81 -415.7 113.61 - - 2028.69 - - - - - - - - - 16.03 -
18896.13 225.82 8.45 2197 18901.80 done 1.65 - - 2524.81 - 3.97 0.140 735.88 -363.0 113.61 - - 2027.56 - - - - - - - - - 16.00 -
19015.08 214.65 10.19 2221 19021.91 done 1.65 - - 2524.25 - 3.56 0.056 2222.31 417.5 113.61 - - 2028.06 - - - - - - - - - 16.02 -
19321.20 191.00 8.45 2252 19326.99 done 1.65 - - 2523.06 - 4.06 0.134 735.44 -366.2 113.61 - - 2027.59 - - - - - - - - - 16.02 -
19510.17 172.13 9.98 2290 19517.01 done 1.65 - - 2523.94 - 3.54 0.055 2223.19 420.3 113.61 - - 2027.66 - - - - - - - - - 16.05 -
19816.30 148.67 7.36 2321 19822.03 done 1.67 - - 2524.06 - 4.07 0.133 736.88 -365.2 113.61 - - 2025.72 - - - - - - - - - 16.03 -
19885.28 143.07 8.17 2335 19892.06 done 1.67 - - 2523.88 - 3.56 0.054 2223.50 417.6 113.61 - - 2026.72 - - - - - - - - - 16.02 -
20191.35 123.28 6.39 2366 20196.94 1.72 0.20 0.096 2568.00 220.6 3.35 0.119 3472.56 372.9 113.61 - - 2024.88 - - - - - - - - 16.03 16.03 -
20386.40 110.01 5.99 2405 20417.59 done 1.81 - - 2567.31 - 3.12 0.054 2176.38 -415.4 142.99 24.97 1.219 1915.50 -4.4 0.067 - - - - - - - 16.03 12.97
20716.54 88.22 6.96 2458 20722.30 roll 1.84 - - 2566.75 - 3.44 0.118 3474.81 377.5 142.99 - - 1910.91 - - - - - - - - - 15.97 -
20856.47 78.70 5.20 2486 20897.90 1.96 0.30 0.087 2623.31 188.5 3.14 0.057 2177.94 -413.0 183.61 33.96 1.177 1750.59 -4.7 0.053 - - - - - - 15.95 15.97 13.01
21076.51 61.60 7.03 2530 21082.25 roll 1.99 - - 2622.44 - 3.49 0.116 3472.56 371.0 183.61 - - 1744.88 - - - - - - - - - 15.88 -
21306.57 48.59 3.85 2576 21363.13 2.17 0.28 0.085 2675.44 189.3 3.17 0.054 2178.44 -408.2 243.56 48.69 1.148 1506.66 -4.9 0.035 - - - - - - 15.89 15.90 12.91
21541.61 28.93 8.00 2623 21547.49 roll 2.17 - - 2674.12 - 3.48 0.115 3473.69 372.2 243.56 - - 1500.50 - - - - - - - - - 15.78 -
21771.70 15.88 6.05 2669 21802.92 done 2.26 - - 2674.44 - 3.22 0.055 2178.88 -402.1 272.12 24.81 1.057 1390.78 -4.4 0.011 - - - - - - - 15.84 12.89
21936 end climb: SURFACE_DEPTH_REACHED
21936 begin surface coast
21956 end surface coast: CONTROL_FINISHED_OK
21956 begin surface
SM 0.54 - - - - 177.6 2.05 0.244 768.2 362.6 16.01 0.072 773.8 48.3 - 0.22 0.115 762.7 3452.2 -1.657 - - 12.68 15.77 15.81 -