NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 204 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 64.38 of 575.00 AH used of 24V (88.80% remains)
• Surface angle -67.9 deg, depth 0.83 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 425.13 (SM_CC=425)
• GPS1 time: 28 s
• GPS2 time: 2 s • Transponder ping count: 1
• 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
6.64 - - - 83.46 VBD -1.25 - - 173.94 - - - 2119.38 - -77.86 76.24 0.005 2475.66 - - - - - - - - - - 15.61
83.72 3.59 -3.84 10 115.53 -1.25 13.77 0.261 1835.50 120.7 3.75 0.124 3473.25 361.0 -77.86 8.35 0.007 2815.88 40.7 -3.468 - - - - - - 15.62 15.60 15.65
178.33 26.10 -23.02 29 184.07 roll -1.25 - - 1835.94 - 3.55 0.064 2084.31 -391.3 -77.86 - - 2816.59 - - - - - - - - - 15.73 -
363.34 60.06 -15.20 66 369.19 roll -1.25 - - 1835.56 - 4.16 0.163 663.06 -341.6 -77.86 - - 2816.91 - - - - - - - - - 15.77 -
398.37 66.27 -17.89 73 404.12 roll -1.25 - - 1835.50 - 3.62 0.056 2119.00 402.2 -77.86 - - 2817.62 - - - - - - - - - 15.80 -
583.39 93.73 -13.49 110 584.72 no move -1.25 - - 1835.88 - - - 2118.94 - -77.86 - - 2816.81 - - - - - - - - - - -
763.42 114.20 -10.65 133 764.74 no move -1.25 - - 1835.62 - - - 2119.06 - -77.86 - - 2816.88 - - - - - - - - - - -
1063.44 146.90 -10.57 163 1064.77 no move -1.25 - - 1835.94 - - - 2118.56 - -77.86 - - 2817.75 - - - - - - - - - - -
1363.48 179.95 -10.73 193 1369.18 roll -1.25 - - 1835.69 - 3.68 0.122 3471.38 367.6 -77.86 - - 2816.72 - - - - - - - - - 15.96 -
1408.50 185.37 -11.85 202 1413.14 roll -1.25 - - 1834.88 - 3.45 0.062 2084.69 -401.9 -77.86 - - 2820.28 - - - - - - - - - 15.97 -
1718.53 219.38 -10.81 234 1719.86 no move -1.25 - - 1835.62 - - - 2084.50 - -77.86 - - 2818.03 - - - - - - - - - - -
2018.57 252.64 -10.53 264 2019.90 no move -1.25 - - 1835.75 - - - 2084.44 - -77.86 - - 2817.62 - - - - - - - - - - -
2318.61 284.23 -10.15 294 2319.94 no move -1.25 - - 1835.69 - - - 2084.88 - -77.86 - - 2818.25 - - - - - - - - - - -
2618.66 314.23 -10.63 324 2619.98 no move -1.25 - - 1834.88 - - - 2084.38 - -77.86 - - 2817.66 - - - - - - - - - - -
2918.71 342.97 -9.14 354 2920.03 no move -1.25 - - 1835.38 - - - 2084.88 - -77.86 - - 2816.78 - - - - - - - - - - -
3218.76 371.89 -9.15 384 3224.53 roll -1.25 - - 1835.56 - 4.08 0.168 662.88 -348.5 -77.86 - - 2816.50 - - - - - - - - - 16.03 -
3273.79 378.48 -12.52 395 3279.46 roll -1.25 - - 1835.94 - 3.59 0.062 2118.69 405.5 -77.86 - - 2818.12 - - - - - - - - - 16.06 -
3578.84 410.38 -10.34 426 3580.16 no move -1.25 - - 1835.44 - - - 2118.12 - -77.86 - - 2817.97 - - - - - - - - - - -
3878.89 442.10 -10.85 456 3880.22 no move -1.25 - - 1835.44 - - - 2118.31 - -77.86 - - 2817.81 - - - - - - - - - - -
4178.94 472.47 -10.06 486 4180.27 no move -1.25 - - 1835.75 - - - 2118.12 - -77.86 - - 2817.97 - - - - - - - - - - -
4479.00 502.09 -9.46 516 4480.32 no move -1.25 - - 1835.69 - - - 2117.81 - -77.86 - - 2817.31 - - - - - - - - - - -
4779.05 531.82 -9.98 546 4780.38 no move -1.25 - - 1836.25 - - - 2117.50 - -77.86 - - 2816.62 - - - - - - - - - - -
5079.10 559.22 -9.60 576 5084.91 roll -1.25 - - 1834.69 - 4.22 0.173 663.94 -344.4 -77.86 - - 2817.25 - - - - - - - - - 16.05 -
5128.12 564.49 -11.26 586 5134.92 roll -1.25 - - 1835.56 - 3.64 0.067 2116.88 399.2 -77.86 - - 2816.62 - - - - - - - - - 16.08 -
5434.18 591.83 -8.99 617 5435.51 no move -1.25 - - 1835.81 - - - 2116.56 - -77.86 - - 2814.09 - - - - - - - - - - -
5734.22 617.88 -8.47 647 5739.93 roll -1.25 - - 1835.88 - 3.73 0.135 3472.25 363.5 -77.86 - - 2815.09 - - - - - - - - - 16.08 -
5769.24 621.73 -10.80 654 5773.89 roll -1.25 - - 1835.50 - 3.46 0.071 2085.19 -400.9 -77.86 - - 2815.56 - - - - - - - - - 16.08 -
6079.27 649.59 -8.15 686 6080.60 no move -1.25 - - 1835.44 - - - 2085.50 - -77.86 - - 2813.62 - - - - - - - - - - -
6379.31 677.45 -9.04 716 6380.64 no move -1.25 - - 1835.75 - - - 2085.75 - -77.86 - - 2813.56 - - - - - - - - - - -
6679.35 705.71 -9.97 746 6680.68 no move -1.25 - - 1835.44 - - - 2085.25 - -77.86 - - 2812.41 - - - - - - - - - - -
6979.40 733.60 -9.21 776 6985.13 roll -1.25 - - 1834.88 - 3.82 0.134 3471.50 362.9 -77.86 - - 2813.44 - - - - - - - - - 16.09 -
7068.41 742.76 -10.63 794 7075.19 roll -1.25 - - 1835.38 - 3.51 0.074 2085.62 -394.8 -77.86 - - 2813.53 - - - - - - - - - 16.09 -
7374.46 771.58 -8.65 825 7375.79 no move -1.25 - - 1835.56 - - - 2085.75 - -77.86 - - 2813.31 - - - - - - - - - - -
7674.51 797.69 -8.43 855 7675.83 no move -1.25 - - 1834.31 - - - 2085.44 - -77.86 - - 2814.91 - - - - - - - - - - -
7974.55 821.32 -7.91 885 7975.88 no move -1.25 - - 1835.19 - - - 2085.38 - -77.86 - - 2812.34 - - - - - - - - - - -
8274.59 843.77 -7.68 915 8275.92 no move -1.25 - - 1835.62 - - - 2085.50 - -77.86 - - 2813.16 - - - - - - - - - - -
8574.63 865.94 -8.55 945 8580.42 roll -1.25 - - 1835.12 - 4.16 0.190 664.06 -341.7 -77.86 - - 2811.28 - - - - - - - - - 16.06 -
8633.77 871.08 -10.43 957 8640.44 roll -1.25 - - 1835.56 - 3.70 0.074 2113.25 391.7 -77.86 - - 2811.91 - - - - - - - - - 16.10 -
8939.69 895.16 -7.38 988 8945.50 roll -1.25 - - 1835.75 - 4.24 0.184 664.12 -341.8 -77.86 - - 2810.47 - - - - - - - - - 16.06 -
9048.65 905.54 -11.34 1010 9055.53 roll -1.25 - - 1835.69 - 3.71 0.076 2115.25 391.1 -77.86 - - 2811.56 - - - - - - - - - 16.10 -
9354.79 928.64 -9.04 1041 9356.12 no move -1.25 - - 1835.94 - - - 2115.88 - -77.86 - - 2810.47 - - - - - - - - - - -
9654.84 949.60 -7.29 1071 9660.65 roll -1.25 - - 1834.56 - 4.20 0.185 664.06 -345.7 -77.86 - - 2813.38 - - - - - - - - - 16.05 -
9729.87 956.03 -9.34 1086 9735.57 roll -1.25 - - 1835.25 - 3.68 0.075 2114.62 394.2 -77.86 - - 2810.53 - - - - - - - - - 16.09 -
10034.93 978.08 -7.43 1117 10040.74 roll -1.25 - - 1835.75 - 4.22 0.187 664.00 -343.7 -77.86 - - 2810.19 - - - - - - - - - 16.05 -
10109.96 984.70 -9.21 1132 10115.66 roll -1.25 - - 1835.12 - 3.66 0.077 2113.88 396.1 -77.86 - - 2808.97 - - - - - - - - - 16.09 -
10185 end dive: TARGET_DEPTH_EXCEEDED
10185 begin apogee
10186.22 990.73 -7.91 1140 10256.09 -0.25 1.74 0.153 2081.06 141.3 0.07 0.323 2186.31 1034.7 - 64.53 2.300 2499.97 -4.8 0.342 - - - - - - 16.04 15.58 12.86
10260 end apogee: CONTROL_FINISHED_OK
10260 begin climb
10259.52 992.35 - 1147 10337.13 1.25 2.52 0.095 2448.25 145.7 - - 2186.19 - 77.86 72.24 2.232 2182.56 -4.4 0.324 - - - - - - 15.63 - 12.85
10635.13 959.66 9.31 1185 10640.82 done 1.25 - - 2448.69 - 4.20 0.160 737.38 -345.0 77.86 - - 2167.75 - - - - - - - - - 15.65 -
10730.08 948.94 11.23 1204 10735.87 done 1.25 - - 2446.06 - 3.78 0.066 2213.38 390.5 77.86 - - 2170.00 - - - - - - - - - 15.72 -
11035.15 921.59 8.28 1235 11036.48 VBD 1.25 - - 2448.12 - - - 2213.50 - 77.86 - - 2165.38 - - - - - - - - - - -
11335.19 896.18 8.54 1265 11336.52 VBD 1.25 - - 2448.31 - - - 2213.81 - 77.86 - - 2163.75 - - - - - - - - - - -
11635.23 869.82 9.15 1295 11641.02 done 1.25 - - 2447.31 - 4.20 0.158 737.94 -351.4 77.86 - - 2163.47 - - - - - - - - - 15.90 -
11764.18 855.77 10.54 1321 11771.06 done 1.25 - - 2447.62 - 3.73 0.065 2215.31 396.1 77.86 - - 2162.25 - - - - - - - - - 15.94 -
12070.30 827.12 9.44 1352 12075.90 done 1.25 - - 2448.88 - 3.51 0.137 3470.88 357.7 77.86 - - 2162.47 - - - - - - - - - 15.95 -
12135.33 820.22 10.84 1365 12139.89 done 1.25 - - 2446.69 - 3.22 0.069 2183.12 -399.9 77.86 - - 2164.50 - - - - - - - - - 15.97 -
12445.36 788.52 10.08 1397 12446.69 VBD 1.25 - - 2448.44 - - - 2184.31 - 77.86 - - 2160.47 - - - - - - - - - - -
12745.39 760.78 9.25 1427 12746.72 VBD 1.25 - - 2448.25 - - - 2184.31 - 77.86 - - 2161.97 - - - - - - - - - - -
13045.43 734.09 8.04 1457 13051.03 done 1.25 - - 2447.19 - 3.52 0.136 3471.38 365.6 77.86 - - 2160.16 - - - - - - - - - 16.01 -
13150.45 723.65 10.17 1478 13155.00 done 1.25 - - 2447.62 - 3.23 0.068 2183.19 -398.8 77.86 - - 2161.69 - - - - - - - - - 16.02 -
13460.50 698.24 7.20 1510 13461.83 VBD 1.28 - - 2447.88 - - - 2184.44 - 77.86 - - 2159.47 - - - - - - - - - - -
13760.51 674.48 7.98 1540 13761.84 VBD 1.28 - - 2447.50 - - - 2183.88 - 77.86 - - 2159.69 - - - - - - - - - - -
14060.54 652.54 7.83 1570 14061.88 VBD 1.28 - - 2448.19 - - - 2183.75 - 77.86 - - 2160.88 - - - - - - - - - - -
14360.67 631.50 7.24 1600 14362.01 VBD 1.30 - - 2448.06 - - - 2183.88 - 77.86 - - 2159.88 - - - - - - - - - - -
14660.62 609.74 7.62 1630 14666.39 done 1.30 - - 2447.06 - 4.05 0.153 737.19 -357.2 77.86 - - 2160.59 - - - - - - - - - 16.04 -
14735.62 602.87 9.97 1645 14741.41 done 1.30 - - 2447.69 - 3.71 0.064 2218.12 399.2 77.86 - - 2157.56 - - - - - - - - - 16.06 -
15040.69 579.65 6.86 1676 15042.02 VBD 1.34 - - 2448.44 - - - 2218.00 - 77.86 - - 2158.25 - - - - - - - - - - -
15340.72 558.45 6.41 1706 15346.54 1.39 0.17 0.110 2484.75 213.6 4.16 0.148 737.19 -356.0 77.86 - - 2158.38 - - - - - - - - 16.05 16.05 -
15355.80 557.05 6.87 1709 15361.34 done 1.42 - - 2484.19 - 3.69 0.060 2218.69 401.5 77.86 - - 2157.91 - - - - - - - - - 16.07 -
15660.78 534.64 7.81 1740 15666.55 done 1.42 - - 2483.94 - 4.14 0.147 736.75 -358.0 77.86 - - 2160.44 - - - - - - - - - 16.05 -
15739.64 527.78 9.28 1756 15746.58 done 1.42 - - 2485.44 - 3.67 0.062 2219.06 403.9 77.86 - - 2158.94 - - - - - - - - - 16.06 -
16045.88 505.41 7.60 1787 16047.21 VBD 1.42 - - 2484.88 - - - 2218.94 - 77.86 - - 2157.00 - - - - - - - - - - -
16345.94 483.54 7.14 1817 16347.28 VBD 1.45 - - 2485.31 - - - 2219.56 - 77.86 - - 2157.41 - - - - - - - - - - -
16646.01 460.78 7.40 1847 16647.34 VBD 1.47 - - 2485.75 - - - 2220.12 - 77.86 - - 2157.41 - - - - - - - - - - -
16946.07 440.66 6.34 1877 16947.40 VBD 1.52 - - 2485.25 - - - 2219.44 - 77.86 - - 2158.19 - - - - - - - - - - -
17246.12 422.69 5.49 1907 17276.86 1.63 0.31 0.086 2541.75 182.3 - - 2219.38 - 114.42 29.75 1.597 2032.75 -4.2 0.185 - - - - - - 16.04 - 13.04
17576.18 391.55 10.66 1940 17581.78 roll 1.63 - - 2542.31 - 3.51 0.131 3471.38 356.7 114.42 - - 2026.19 - - - - - - - - - 15.94 -
17651.21 382.84 11.96 1955 17655.74 roll 1.63 - - 2542.75 - 3.22 0.065 2182.94 -400.1 114.42 - - 2027.53 - - - - - - - - - 15.95 -
17961.23 350.72 9.84 1987 17962.56 no move 1.63 - - 2542.50 - - - 2183.81 - 114.42 - - 2024.88 - - - - - - - - - - -
18261.26 318.16 10.21 2017 18262.60 no move 1.63 - - 2542.00 - - - 2184.06 - 114.42 - - 2024.81 - - - - - - - - - - -
18561.30 286.87 9.42 2047 18562.63 no move 1.63 - - 2542.00 - - - 2183.38 - 114.42 - - 2025.41 - - - - - - - - - - -
18861.33 259.23 9.11 2077 18862.67 VBD 1.63 - - 2542.69 - - - 2183.62 - 114.42 - - 2025.19 - - - - - - - - - - -
19161.37 234.35 7.99 2107 19162.70 VBD 1.63 - - 2542.38 - - - 2183.25 - 114.42 - - 2024.44 - - - - - - - - - - -
19461.41 209.67 8.82 2137 19467.23 done 1.63 - - 2541.88 - 4.03 0.143 736.88 -358.9 114.42 - - 2024.41 - - - - - - - - - 16.00 -
19606.44 194.19 10.69 2166 19612.21 done 1.63 - - 2542.56 - 3.68 0.061 2221.62 403.5 114.42 - - 2023.72 - - - - - - - - - 16.05 -
19911.48 166.29 8.80 2197 19912.82 VBD 1.63 - - 2542.44 - - - 2221.19 - 114.42 - - 2022.56 - - - - - - - - - - -
20211.51 140.64 8.39 2227 20212.84 VBD 1.63 - - 2542.56 - - - 2220.62 - 114.42 - - 2023.28 - - - - - - - - - - -
20511.55 122.56 5.28 2257 20552.32 done 1.75 - - 2542.56 - 3.46 0.127 3472.94 361.9 153.99 33.10 1.253 1869.69 -4.6 0.075 - - - - - - - 15.85 12.96
20605.39 115.35 9.37 2276 20612.26 roll 1.75 - - 2542.44 - 3.23 0.058 2179.75 -400.4 153.99 - - 1868.78 - - - - - - - - - 15.89 -
20911.63 91.63 7.11 2318 20917.40 roll back 1.78 0.17 0.100 2580.00 220.9 3.58 0.120 3472.12 361.0 153.99 - - 1866.00 - - - - - - - - 15.94 15.92 -
21101.66 77.10 5.88 2356 21132.89 done 1.87 - - 2580.25 - 3.20 0.057 2178.56 -404.2 184.95 26.00 1.167 1745.44 -4.6 0.051 - - - - - - - 15.95 12.92
21311.72 63.70 6.71 2398 21317.54 roll 1.91 - - 2579.88 - 4.05 0.138 735.31 -356.4 184.95 - - 1740.28 - - - - - - - - - 15.86 -
21376.81 59.46 6.70 2411 21382.56 roll back 1.95 0.20 0.091 2620.62 203.7 3.66 0.055 2226.06 407.3 184.95 - - 1740.47 - - - - - - - - 15.88 15.89 -
21561.83 50.69 4.86 2448 21608.06 2.09 0.16 0.108 2652.69 200.4 3.43 0.120 3471.62 363.1 230.46 37.81 1.145 1558.22 -4.8 0.035 - - - - - - 15.90 15.73 13.01
21831.92 33.31 3.93 2502 21887.79 2.26 0.23 0.093 2695.25 185.0 3.25 0.055 2178.19 -398.0 289.22 48.19 1.114 1321.34 -4.9 0.024 - - - - - - 15.81 15.84 12.93
22066.99 12.20 9.87 2549 22072.73 roll 2.26 - - 2696.19 - 3.57 0.117 3472.12 362.4 289.22 - - 1314.84 - - - - - - - - - 15.74 -
22148 end climb: SURFACE_DEPTH_REACHED
22148 begin surface coast
22162 end surface coast: CONTROL_FINISHED_OK
22162 begin surface
SM 0.73 - - - - 174.2 110.08 1.077 766.9 7.0 16.30 0.073 766.4 47.0 - 3.50 0.060 767.4 218.2 -0.271 - - 12.89 15.76 15.79 -