NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 201 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 63.48 of 575.00 AH used of 24V (88.96% remains)
• Surface angle -60.6 deg, depth 0.77 m • Intended pitch -20.4 deg, speed -8.049 cm/s
• VBD pumped to 424.84 (SM_CC=425)
• GPS1 time: 28 s
• GPS2 time: 3 s, HDOP was 2.2 m • Transponder ping count: 3
• 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
6 end surface: CONTROL_FINISHED_OK
6 begin dive
6.65 - - - 84.78 VBD -1.25 - - 177.06 - - - 2121.75 - -77.86 77.47 0.005 2495.56 - - - - - - - - - - 15.64
85.04 3.54 -4.24 15 116.75 -1.25 13.76 0.264 1835.50 120.5 3.68 0.123 3473.00 367.2 -77.86 7.88 0.008 2815.94 40.7 -3.031 - - - - - - 15.64 15.62 15.66
229.50 36.95 -24.34 44 235.26 roll -1.25 - - 1835.50 - 3.51 0.066 2085.81 -395.2 -77.86 - - 2817.28 - - - - - - - - - 15.77 -
414.56 68.45 -13.92 81 420.42 roll -1.25 - - 1835.19 - 4.11 0.162 663.75 -346.0 -77.86 - - 2817.59 - - - - - - - - - 15.80 -
484.64 79.38 -15.33 95 490.33 roll -1.25 - - 1835.19 - 3.54 0.056 2120.25 411.4 -77.86 - - 2818.34 - - - - - - - - - 15.84 -
674.62 105.43 -12.39 129 680.30 roll -1.25 - - 1835.38 - 3.68 0.117 3473.56 367.7 -77.86 - - 2818.00 - - - - - - - - - 15.87 -
809.64 123.60 -12.39 156 814.22 roll -1.25 - - 1835.56 - 3.43 0.061 2082.31 -405.6 -77.86 - - 2818.03 - - - - - - - - - 15.91 -
1119.68 155.37 -10.92 188 1125.39 roll -1.25 - - 1834.69 - 3.72 0.119 3472.56 373.7 -77.86 - - 2818.47 - - - - - - - - - 15.94 -
1218.55 166.99 -12.37 208 1225.46 roll -1.25 - - 1835.88 - 3.45 0.063 2082.25 -403.0 -77.86 - - 2818.00 - - - - - - - - - 15.95 -
1524.78 199.59 -10.85 239 1526.10 no move -1.25 - - 1835.75 - - - 2082.94 - -77.86 - - 2817.88 - - - - - - - - - - -
1824.83 232.76 -11.52 269 1826.16 no move -1.25 - - 1835.62 - - - 2083.31 - -77.86 - - 2817.94 - - - - - - - - - - -
2124.86 266.07 -11.30 299 2126.19 no move -1.25 - - 1835.81 - - - 2082.56 - -77.86 - - 2818.12 - - - - - - - - - - -
2424.92 298.52 -10.75 329 2426.25 no move -1.25 - - 1835.56 - - - 2083.06 - -77.86 - - 2817.81 - - - - - - - - - - -
2724.97 331.23 -10.77 359 2726.30 no move -1.25 - - 1835.31 - - - 2083.19 - -77.86 - - 2817.81 - - - - - - - - - - -
3025.02 364.37 -10.61 389 3026.35 no move -1.25 - - 1835.75 - - - 2082.12 - -77.86 - - 2817.41 - - - - - - - - - - -
3325.14 396.56 -10.59 419 3326.47 no move -1.25 - - 1835.75 - - - 2082.81 - -77.86 - - 2817.62 - - - - - - - - - - -
3625.13 426.84 -9.43 449 3626.46 no move -1.25 - - 1836.12 - - - 2082.88 - -77.86 - - 2816.84 - - - - - - - - - - -
3925.18 455.97 -9.61 479 3926.50 no move -1.25 - - 1835.88 - - - 2082.75 - -77.86 - - 2816.47 - - - - - - - - - - -
4225.22 485.49 -10.40 509 4230.99 roll -1.25 - - 1835.50 - 4.07 0.173 663.88 -348.6 -77.86 - - 2816.94 - - - - - - - - - 16.05 -
4274.18 491.69 -12.94 519 4281.00 roll -1.25 - - 1835.81 - 3.54 0.064 2118.12 410.8 -77.86 - - 2816.03 - - - - - - - - - 16.08 -
4580.28 522.38 -10.25 550 4586.06 roll -1.25 - - 1835.00 - 4.13 0.169 664.00 -352.1 -77.86 - - 2816.19 - - - - - - - - - 16.06 -
4639.29 529.33 -11.14 562 4646.06 roll -1.25 - - 1835.69 - 3.51 0.063 2116.69 413.9 -77.86 - - 2816.41 - - - - - - - - - 16.09 -
4945.34 560.26 -10.12 593 4951.11 roll -1.25 - - 1835.75 - 4.15 0.171 664.06 -350.0 -77.86 - - 2814.97 - - - - - - - - - 16.05 -
4990.36 564.94 -11.46 602 4996.04 roll -1.25 - - 1835.88 - 3.55 0.065 2117.12 409.3 -77.86 - - 2813.56 - - - - - - - - - 16.10 -
5295.38 595.46 -9.79 633 5296.71 no move -1.25 - - 1835.81 - - - 2117.25 - -77.86 - - 2814.34 - - - - - - - - - - -
5595.42 624.52 -9.65 663 5601.12 roll -1.25 - - 1834.56 - 3.67 0.133 3471.94 369.1 -77.86 - - 2814.25 - - - - - - - - - 16.08 -
5654.37 630.55 -9.87 675 5661.18 roll -1.25 - - 1835.44 - 3.40 0.070 2083.62 -408.3 -77.86 - - 2814.72 - - - - - - - - - 16.09 -
5960.62 660.37 -9.64 706 5961.95 no move -1.25 - - 1835.62 - - - 2083.81 - -77.86 - - 2813.66 - - - - - - - - - - -
6260.51 688.88 -9.19 736 6261.84 no move -1.25 - - 1834.75 - - - 2083.56 - -77.86 - - 2815.09 - - - - - - - - - - -
6560.55 716.59 -8.84 766 6561.88 no move -1.25 - - 1835.56 - - - 2083.81 - -77.86 - - 2810.88 - - - - - - - - - - -
6860.59 742.61 -9.30 796 6861.91 no move -1.25 - - 1835.25 - - - 2084.12 - -77.86 - - 2812.75 - - - - - - - - - - -
7160.64 766.19 -7.90 826 7161.97 no move -1.25 - - 1835.50 - - - 2084.12 - -77.86 - - 2812.50 - - - - - - - - - - -
7460.68 790.55 -7.63 856 7462.01 no move -1.25 - - 1835.19 - - - 2083.75 - -77.86 - - 2809.97 - - - - - - - - - - -
7760.73 813.43 -7.93 886 7762.06 no move -1.25 - - 1835.88 - - - 2083.69 - -77.86 - - 2810.38 - - - - - - - - - - -
8060.79 837.32 -8.65 916 8062.12 no move -1.25 - - 1835.81 - - - 2083.75 - -77.86 - - 2809.72 - - - - - - - - - - -
8360.85 862.32 -8.63 946 8366.61 roll -1.25 - - 1835.25 - 4.09 0.187 664.00 -347.1 -77.86 - - 2810.00 - - - - - - - - - 16.06 -
8515.92 878.35 -11.17 977 8521.59 roll -1.25 - - 1835.88 - 3.60 0.077 2113.94 402.8 -77.86 - - 2809.16 - - - - - - - - - 16.11 -
8820.97 904.59 -8.85 1008 8826.69 roll -1.25 - - 1836.06 - 3.70 0.138 3472.06 367.1 -77.86 - - 2808.03 - - - - - - - - - 16.08 -
8889.92 911.58 -9.60 1022 8896.74 roll -1.25 - - 1834.56 - 3.42 0.077 2086.19 -405.2 -77.86 - - 2812.50 - - - - - - - - - 16.10 -
9196.05 936.98 -7.84 1053 9197.38 no move -1.25 - - 1835.81 - - - 2086.06 - -77.86 - - 2808.28 - - - - - - - - - - -
9496.13 960.64 -7.63 1083 9502.00 roll -1.25 - - 1835.12 - 4.04 0.188 663.69 -352.1 -77.86 - - 2808.97 - - - - - - - - - 16.05 -
9591.37 969.03 -9.02 1102 9596.84 roll -1.25 - - 1835.81 - 3.61 0.077 2112.50 401.3 -77.86 - - 2808.97 - - - - - - - - - 16.10 -
9897 end dive: TARGET_DEPTH_EXCEEDED
9897 begin apogee
9897.43 990.21 -6.00 1133 9967.73 -0.25 1.75 0.158 2080.00 139.5 0.07 0.322 2185.38 1041.1 - 64.20 2.294 2499.75 -4.8 0.350 - - - - - - 16.04 15.60 13.06
9969 end apogee: CONTROL_FINISHED_OK
9969 begin climb
9969.20 991.50 - 1140 10049.21 1.25 2.52 0.099 2447.94 146.0 3.73 0.138 3473.38 345.3 77.86 71.49 2.240 2181.19 -4.5 0.332 - - - - - - 15.64 15.24 12.84
10107.06 980.00 11.17 1167 10111.56 roll 1.25 - - 2448.31 - 3.32 0.067 2183.62 -388.5 77.86 - - 2174.97 - - - - - - - - - 15.45 -
10417.06 946.98 10.97 1199 10423.05 done 1.25 - - 2447.38 - 4.18 0.159 736.19 -346.3 77.86 - - 2169.81 - - - - - - - - - 15.69 -
10492.09 938.31 13.91 1214 10497.80 done 1.25 - - 2447.94 - 3.67 0.063 2216.56 403.4 77.86 - - 2164.84 - - - - - - - - - 15.75 -
10797.18 907.57 8.95 1245 10798.51 VBD 1.25 - - 2447.94 - - - 2216.06 - 77.86 - - 2165.84 - - - - - - - - - - -
11097.20 880.03 8.13 1275 11101.79 done 1.25 - - 2447.75 - 3.46 0.137 3473.88 363.5 77.86 - - 2166.12 - - - - - - - - - 15.88 -
11171.08 872.14 9.86 1290 11177.91 done 1.25 - - 2447.44 - 3.19 0.066 2181.88 -405.0 77.86 - - 2164.50 - - - - - - - - - 15.89 -
11477.25 844.22 9.84 1321 11483.02 done 1.25 - - 2448.00 - 4.07 0.155 737.25 -354.9 77.86 - - 2161.06 - - - - - - - - - 15.91 -
11666.22 824.19 10.96 1359 11673.07 done 1.25 - - 2447.31 - 3.61 0.062 2217.44 410.0 77.86 - - 2163.09 - - - - - - - - - 15.95 -
11972.34 796.67 8.88 1390 11973.67 VBD 1.25 - - 2447.88 - - - 2217.94 - 77.86 - - 2160.56 - - - - - - - - - - -
12272.36 771.81 8.49 1420 12273.70 VBD 1.25 - - 2447.62 - - - 2218.06 - 77.86 - - 2160.88 - - - - - - - - - - -
12572.40 747.93 8.31 1450 12573.73 VBD 1.25 - - 2447.75 - - - 2217.56 - 77.86 - - 2161.38 - - - - - - - - - - -
12872.43 720.92 8.93 1480 12873.76 VBD 1.25 - - 2448.62 - - - 2218.25 - 77.86 - - 2159.94 - - - - - - - - - - -
13172.46 697.64 8.25 1510 13177.17 done 1.25 - - 2447.88 - 3.45 0.137 3471.69 363.3 77.86 - - 2161.66 - - - - - - - - - 16.02 -
13302.48 686.41 7.77 1536 13307.01 done 1.25 - - 2448.06 - 3.19 0.065 2180.94 -404.6 77.86 - - 2161.56 - - - - - - - - - 16.03 -
13612.52 663.22 8.48 1568 13613.86 VBD 1.25 - - 2448.12 - - - 2181.12 - 77.86 - - 2159.31 - - - - - - - - - - -
13912.57 642.34 6.46 1598 13913.91 VBD 1.30 - - 2448.06 - - - 2180.94 - 77.86 - - 2160.88 - - - - - - - - - - -
14212.60 622.93 5.92 1628 14244.02 1.39 0.18 0.115 2486.44 213.2 4.09 0.152 737.31 -353.0 108.32 24.79 1.812 2057.62 -4.2 0.241 - - - - - - 16.03 15.83 13.07
14292.60 615.81 9.33 1644 14298.50 roll 1.39 - - 2486.25 - 3.61 0.058 2219.44 410.6 108.32 - - 2053.09 - - - - - - - - - 15.92 -
14597.64 586.64 10.83 1675 14598.98 no move 1.39 - - 2486.00 - - - 2219.56 - 108.32 - - 2052.44 - - - - - - - - - - -
14897.67 555.49 10.52 1705 14899.00 no move 1.39 - - 2486.88 - - - 2219.38 - 108.32 - - 2051.41 - - - - - - - - - - -
15197.75 525.63 10.19 1735 15199.08 no move 1.39 - - 2486.31 - - - 2219.25 - 108.32 - - 2049.53 - - - - - - - - - - -
15497.82 497.23 8.68 1765 15499.15 no move 1.39 - - 2486.88 - - - 2219.69 - 108.32 - - 2049.41 - - - - - - - - - - -
15797.89 468.51 10.31 1795 15799.22 no move 1.39 - - 2486.62 - - - 2219.81 - 108.32 - - 2049.75 - - - - - - - - - - -
16097.96 440.14 9.68 1825 16102.54 done 1.39 - - 2486.44 - 3.46 0.132 3471.81 361.8 108.32 - - 2050.88 - - - - - - - - - 16.01 -
16201.92 429.08 9.74 1846 16208.69 done 1.39 - - 2486.81 - 3.16 0.061 2180.50 -408.6 108.32 - - 2050.59 - - - - - - - - - 16.03 -
16508.08 401.22 8.70 1877 16509.41 VBD 1.39 - - 2486.56 - - - 2180.88 - 108.32 - - 2048.59 - - - - - - - - - - -
16808.15 374.28 9.25 1907 16809.48 VBD 1.39 - - 2486.56 - - - 2181.00 - 108.32 - - 2048.31 - - - - - - - - - - -
17108.20 346.83 9.57 1937 17112.77 done 1.39 - - 2485.94 - 3.47 0.126 3472.50 372.2 108.32 - - 2048.56 - - - - - - - - - 16.05 -
17222.07 335.37 9.55 1960 17228.92 done 1.39 - - 2486.25 - 3.11 0.059 2179.50 -415.8 108.32 - - 2050.81 - - - - - - - - - 16.05 -
17528.26 307.62 8.10 1991 17529.60 VBD 1.39 - - 2486.00 - - - 2179.75 - 108.32 - - 2050.12 - - - - - - - - - - -
17828.31 285.58 7.10 2021 17829.64 VBD 1.42 - - 2487.00 - - - 2179.06 - 108.32 - - 2050.06 - - - - - - - - - - -
18128.35 265.11 6.33 2051 18129.68 VBD 1.47 - - 2486.38 - - - 2179.12 - 108.32 - - 2048.91 - - - - - - - - - - -
18428.38 244.06 6.33 2081 18434.11 done 1.52 - - 2487.06 - 3.98 0.141 736.06 -362.6 108.32 - - 2047.94 - - - - - - - - - 16.04 -
18557.24 232.86 9.21 2107 18564.15 done 1.52 - - 2486.69 - 3.59 0.058 2221.62 413.8 108.32 - - 2048.44 - - - - - - - - - 16.02 -
18863.45 212.07 6.39 2138 18864.93 1.57 0.20 0.094 2527.94 206.2 - - 2221.00 - 108.32 - - 2047.41 - - - - - - - - 16.06 - -
19163.49 189.10 7.69 2168 19169.31 done 1.57 - - 2528.62 - 4.11 0.135 735.25 -361.5 108.32 - - 2046.72 - - - - - - - - - 16.03 -
19242.40 182.06 8.66 2184 19249.46 done 1.57 - - 2528.88 - 3.55 0.053 2222.06 418.8 108.32 - - 2048.38 - - - - - - - - - 16.06 -
19548.54 158.69 7.47 2215 19553.08 done 1.59 - - 2529.06 - 3.32 0.121 3472.31 376.6 108.32 - - 2048.31 - - - - - - - - - 16.03 -
19668.55 148.28 8.52 2239 19673.08 done 1.59 - - 2527.81 - 3.16 0.056 2177.12 -409.9 108.32 - - 2050.38 - - - - - - - - - 16.03 -
19978.59 127.18 5.67 2271 20009.21 VBD 1.69 - - 2529.62 - - - 2177.50 - 142.29 28.56 1.247 1918.84 -4.6 0.079 - - - - - - - - 12.99
20308.61 103.15 7.76 2304 20309.94 no move 1.69 - - 2528.88 - - - 2177.94 - 142.29 - - 1913.31 - - - - - - - - - - -
20609.90 82.30 7.13 2359 20614.91 pitch 1.72 0.17 0.107 2565.69 216.5 - - 2177.81 - 142.29 - - 1913.53 - - - - - - - - 15.97 - -
20793.79 71.91 4.04 2396 20844.47 1.89 0.21 0.097 2606.88 196.1 - - 2177.25 - 199.49 46.62 1.193 1686.06 -4.9 0.050 - - - - - - 15.98 - 12.91
21023.84 58.72 6.31 2442 21025.17 no move 1.94 - - 2607.00 - - - 2177.44 - 199.49 - - 1679.03 - - - - - - - - - - -
21203.90 48.46 5.77 2478 21236.28 2.04 0.18 0.100 2643.19 201.1 3.53 0.120 3472.62 366.9 232.00 27.06 1.115 1551.03 -4.7 0.035 - - - - - - 15.87 15.74 12.94
21299.05 40.08 10.30 2497 21304.76 roll 2.04 - - 2642.62 - 3.22 0.054 2178.75 -401.8 232.00 - - 1550.75 - - - - - - - - - 15.80 -
21484.14 26.39 4.77 2534 21530.79 2.18 0.16 0.102 2677.44 217.6 3.53 0.116 3472.81 366.6 278.78 39.46 1.097 1362.53 -4.8 0.019 - - - - - - 15.84 15.67 12.83
21735 end climb: SURFACE_DEPTH_REACHED
21735 begin surface coast
21750 end surface coast: CONTROL_FINISHED_OK
21750 begin surface
SM 0.78 - - - - 179.0 0.56 0.150 768.1 1301.1 16.09 0.075 766.6 47.6 - 3.41 0.060 769.5 224.6 -0.298 - - 15.44 15.77 15.80 -