NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 248 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 77.81 of 575.00 AH used of 24V (86.47% remains)
• Surface angle -60.1 deg, depth 0.99 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.77 (SM_CC=425)
• GPS1 time: 20 s
• GPS2 time: 2 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
6 end surface: CONTROL_FINISHED_OK
6 begin dive
6.74 - - - 84.76 VBD -1.25 - - 174.06 - - - 2119.44 - -77.86 77.44 0.005 2488.38 - - - - - - - - - - 15.59
85.02 3.36 -3.84 15 116.86 -1.25 13.75 0.255 1835.38 120.8 4.16 0.164 662.50 -350.2 -77.86 8.25 0.008 2817.91 39.9 -2.826 - - - - - - 15.61 15.59 15.64
224.62 37.35 -24.21 43 230.38 roll -1.25 - - 1834.31 - 3.56 0.056 2118.25 408.9 -77.86 - - 2819.47 - - - - - - - - - 15.75 -
409.74 67.89 -16.47 80 415.45 roll -1.25 - - 1835.75 - 3.63 0.114 3473.44 373.3 -77.86 - - 2816.81 - - - - - - - - - 15.80 -
639.78 103.89 -13.37 126 644.33 roll -1.25 - - 1836.06 - 3.39 0.057 2082.44 -410.3 -77.86 - - 2818.25 - - - - - - - - - 15.87 -
949.82 141.12 -12.33 158 955.65 roll -1.25 - - 1836.00 - 3.98 0.157 661.81 -356.9 -77.86 - - 2817.34 - - - - - - - - - 15.89 -
1004.86 148.08 -12.76 169 1009.52 roll -1.25 - - 1835.50 - 3.51 0.052 2120.06 415.5 -77.86 - - 2819.81 - - - - - - - - - 15.93 -
1314.90 180.52 -10.87 201 1320.50 roll -1.25 - - 1834.25 - 3.58 0.116 3472.44 377.8 -77.86 - - 2820.81 - - - - - - - - - 15.95 -
1389.94 189.89 -12.41 216 1394.50 roll -1.25 - - 1835.81 - 3.38 0.058 2080.50 -411.8 -77.86 - - 2818.59 - - - - - - - - - 15.96 -
1700.06 224.56 -11.06 248 1701.39 no move -1.25 - - 1835.06 - - - 2080.00 - -77.86 - - 2817.84 - - - - - - - - - - -
2000.04 256.72 -10.97 278 2005.68 roll -1.25 - - 1835.56 - 3.72 0.117 3473.19 374.5 -77.86 - - 2817.25 - - - - - - - - - 16.00 -
2045.07 262.06 -12.52 287 2049.63 roll -1.25 - - 1834.50 - 3.36 0.059 2081.75 -414.1 -77.86 - - 2820.62 - - - - - - - - - 16.00 -
2355.11 295.81 -10.66 319 2360.93 roll -1.25 - - 1835.12 - 3.94 0.162 664.00 -359.8 -77.86 - - 2818.41 - - - - - - - - - 15.99 -
2430.21 305.06 -12.47 334 2434.87 roll -1.25 - - 1835.56 - 3.48 0.054 2120.06 418.4 -77.86 - - 2818.94 - - - - - - - - - 16.02 -
2740.19 337.90 -10.58 366 2745.79 roll -1.25 - - 1835.81 - 3.57 0.119 3473.44 379.1 -77.86 - - 2816.97 - - - - - - - - - 16.02 -
2789.07 343.74 -11.82 376 2795.92 roll -1.25 - - 1835.50 - 3.35 0.059 2080.19 -415.9 -77.86 - - 2819.12 - - - - - - - - - 16.03 -
3095.24 376.90 -11.18 407 3096.57 no move -1.25 - - 1835.00 - - - 2079.75 - -77.86 - - 2817.44 - - - - - - - - - - -
3395.28 410.33 -11.64 437 3401.09 roll -1.25 - - 1835.50 - 3.96 0.164 663.00 -357.8 -77.86 - - 2816.31 - - - - - - - - - 16.02 -
3474.30 420.59 -13.73 453 3481.05 roll -1.25 - - 1835.88 - 3.46 0.055 2118.25 420.6 -77.86 - - 2817.00 - - - - - - - - - 16.05 -
3780.34 452.48 -9.75 484 3781.66 no move -1.25 - - 1835.00 - - - 2118.50 - -77.86 - - 2816.62 - - - - - - - - - - -
4080.39 481.52 -9.40 514 4081.72 no move -1.25 - - 1836.12 - - - 2118.62 - -77.86 - - 2815.62 - - - - - - - - - - -
4380.42 509.61 -8.96 544 4381.75 no move -1.25 - - 1835.75 - - - 2118.50 - -77.86 - - 2815.00 - - - - - - - - - - -
4680.46 538.47 -9.80 574 4686.08 roll -1.25 - - 1835.62 - 3.61 0.126 3472.06 374.9 -77.86 - - 2814.91 - - - - - - - - - 16.06 -
4719.32 542.30 -9.64 582 4726.19 roll -1.25 - - 1836.25 - 3.36 0.064 2085.00 -412.8 -77.86 - - 2815.75 - - - - - - - - - 16.07 -
5025.51 571.88 -9.70 613 5026.84 no move -1.25 - - 1835.69 - - - 2084.56 - -77.86 - - 2814.59 - - - - - - - - - - -
5325.55 601.02 -9.26 643 5331.19 roll -1.25 - - 1834.88 - 3.74 0.126 3472.88 371.2 -77.86 - - 2816.59 - - - - - - - - - 16.08 -
5390.59 607.79 -10.96 656 5395.13 roll -1.25 - - 1834.94 - 3.38 0.068 2084.25 -410.8 -77.86 - - 2817.28 - - - - - - - - - 16.08 -
5700.63 637.02 -9.00 688 5701.96 no move -1.25 - - 1835.50 - - - 2085.06 - -77.86 - - 2813.22 - - - - - - - - - - -
6000.65 663.06 -8.95 718 6006.46 roll -1.25 - - 1835.50 - 4.00 0.178 663.88 -355.3 -77.86 - - 2813.28 - - - - - - - - - 16.04 -
6055.68 668.89 -9.54 729 6060.39 roll -1.25 - - 1836.00 - 3.50 0.061 2118.12 415.5 -77.86 - - 2813.88 - - - - - - - - - 16.08 -
6365.71 695.83 -7.54 761 6367.04 no move -1.25 - - 1835.38 - - - 2117.88 - -77.86 - - 2812.00 - - - - - - - - - - -
6665.78 722.75 -8.63 791 6671.63 roll -1.25 - - 1834.81 - 4.11 0.175 663.88 -353.8 -77.86 - - 2813.31 - - - - - - - - - 16.04 -
6684.70 724.67 -9.51 795 6691.52 roll -1.25 - - 1835.31 - 3.49 0.062 2118.06 416.7 -77.86 - - 2812.91 - - - - - - - - - 16.08 -
6990.83 751.94 -9.01 826 6996.43 roll -1.25 - - 1835.06 - 3.59 0.130 3473.06 377.4 -77.86 - - 2811.09 - - - - - - - - - 16.07 -
7039.71 757.27 -11.03 836 7046.64 roll -1.25 - - 1835.75 - 3.38 0.068 2083.31 -411.2 -77.86 - - 2812.69 - - - - - - - - - 16.07 -
7345.91 784.92 -9.36 867 7347.24 no move -1.25 - - 1835.88 - - - 2083.12 - -77.86 - - 2810.81 - - - - - - - - - - -
7645.97 811.71 -9.48 897 7651.74 roll -1.25 - - 1835.56 - 3.72 0.131 3473.25 373.7 -77.86 - - 2811.03 - - - - - - - - - 16.08 -
7734.91 821.16 -11.00 915 7741.72 roll -1.25 - - 1836.25 - 3.39 0.071 2086.25 -409.1 -77.86 - - 2811.56 - - - - - - - - - 16.07 -
8041.06 848.79 -8.97 946 8046.88 roll -1.25 - - 1835.50 - 4.03 0.180 663.88 -352.9 -77.86 - - 2811.09 - - - - - - - - - 16.04 -
8130.07 857.90 -10.13 964 8136.85 roll -1.25 - - 1835.81 - 3.53 0.065 2116.25 411.4 -77.86 - - 2811.03 - - - - - - - - - 16.08 -
8436.14 885.47 -9.33 995 8441.98 roll -1.25 - - 1835.81 - 4.09 0.176 664.94 -354.8 -77.86 - - 2810.34 - - - - - - - - - 16.04 -
8465.15 887.47 -9.35 1001 8471.90 roll -1.25 - - 1835.69 - 3.50 0.065 2116.50 414.7 -77.86 - - 2812.53 - - - - - - - - - 16.08 -
8771.20 913.36 -8.33 1032 8777.04 roll -1.25 - - 1835.94 - 4.11 0.178 662.75 -353.7 -77.86 - - 2811.88 - - - - - - - - - 16.03 -
8906.25 926.73 -10.33 1059 8911.09 roll -1.25 - - 1835.88 - 3.49 0.068 2116.31 416.5 -77.86 - - 2810.53 - - - - - - - - - 16.07 -
9216.60 951.05 -6.45 1091 9222.02 roll -1.25 - - 1836.31 - 3.61 0.134 3472.50 375.7 -77.86 - - 2809.03 - - - - - - - - - 16.06 -
9291.30 957.99 -9.20 1106 9295.86 roll -1.25 - - 1835.88 - 3.40 0.072 2087.06 -407.5 -77.86 - - 2812.19 - - - - - - - - - 16.08 -
9601.33 980.68 -6.82 1138 9607.17 roll -1.25 - - 1836.00 - 4.07 0.184 665.06 -349.4 -77.86 - - 2807.69 - - - - - - - - - 16.03 -
9670.39 986.80 -8.35 1152 9677.11 roll -1.25 - - 1836.00 - 3.54 0.069 2117.94 410.4 -77.86 - - 2809.50 - - - - - - - - - 16.07 -
9717 end dive: TARGET_DEPTH_EXCEEDED
9717 begin apogee
9717.59 990.21 -6.53 1157 9788.12 -0.25 1.74 0.155 2080.44 140.5 0.08 0.304 2185.00 838.2 - 64.82 2.290 2498.16 -4.8 0.350 - - - - - - 16.00 15.58 12.83
9790 end apogee: CONTROL_FINISHED_OK
9790 begin climb
9789.69 992.03 - 1164 9868.50 1.25 2.48 0.097 2448.12 148.3 - - 2184.56 - 77.86 71.97 2.233 2180.75 -4.4 0.330 - - - - - - 15.61 - 12.88
10166.39 957.02 9.59 1202 10167.73 VBD 1.25 - - 2447.69 - - - 2184.62 - 77.86 - - 2169.28 - - - - - - - - - - -
10466.41 926.35 9.95 1232 10472.02 done 1.25 - - 2447.38 - 3.55 0.133 3472.19 362.7 77.86 - - 2166.38 - - - - - - - - - 15.79 -
10521.44 920.69 12.77 1243 10525.95 done 1.25 - - 2448.31 - 3.18 0.063 2182.44 -405.6 77.86 - - 2170.00 - - - - - - - - - 15.79 -
10831.46 889.60 10.05 1275 10837.29 done 1.25 - - 2447.88 - 4.06 0.153 737.00 -356.0 77.86 - - 2163.53 - - - - - - - - - 15.85 -
10896.54 882.34 10.57 1288 10902.15 done 1.25 - - 2448.62 - 3.59 0.057 2218.38 412.6 77.86 - - 2162.34 - - - - - - - - - 15.89 -
11201.51 852.93 9.33 1319 11202.84 VBD 1.25 - - 2447.56 - - - 2219.12 - 77.86 - - 2161.91 - - - - - - - - - - -
11501.54 825.72 9.04 1349 11507.41 done 1.25 - - 2446.12 - 4.09 0.151 737.19 -362.3 77.86 - - 2165.59 - - - - - - - - - 15.93 -
11566.76 819.43 10.55 1362 11572.23 done 1.25 - - 2447.75 - 3.57 0.057 2217.25 414.6 77.86 - - 2160.31 - - - - - - - - - 15.95 -
11871.60 793.37 8.30 1393 11876.30 done 1.25 - - 2448.31 - 3.38 0.131 3473.56 371.7 77.86 - - 2162.19 - - - - - - - - - 15.96 -
11935.46 787.02 10.96 1406 11942.29 done 1.25 - - 2447.81 - 3.15 0.062 2182.50 -409.9 77.86 - - 2161.78 - - - - - - - - - 15.98 -
12241.64 761.76 8.30 1437 12242.97 VBD 1.25 - - 2448.25 - - - 2181.88 - 77.86 - - 2160.84 - - - - - - - - - - -
12541.67 737.88 8.16 1467 12547.26 done 1.25 - - 2446.62 - 3.50 0.129 3472.81 368.8 77.86 - - 2160.50 - - - - - - - - - 16.00 -
12586.69 733.73 8.67 1476 12591.22 done 1.25 - - 2448.06 - 3.16 0.061 2181.38 -408.7 77.86 - - 2161.59 - - - - - - - - - 16.00 -
12896.75 708.67 7.71 1508 12898.08 VBD 1.25 - - 2447.88 - - - 2182.06 - 77.86 - - 2161.50 - - - - - - - - - - -
13196.81 684.96 7.89 1538 13198.14 VBD 1.25 - - 2447.94 - - - 2182.06 - 77.86 - - 2161.22 - - - - - - - - - - -
13496.91 661.66 8.12 1568 13498.24 VBD 1.25 - - 2447.94 - - - 2182.00 - 77.86 - - 2161.00 - - - - - - - - - - -
13796.93 637.96 7.65 1598 13802.75 done 1.25 - - 2448.00 - 3.99 0.149 736.12 -362.4 77.86 - - 2159.66 - - - - - - - - - 16.02 -
13862.03 632.01 9.42 1611 13866.70 done 1.25 - - 2448.69 - 3.56 0.059 2217.00 416.0 77.86 - - 2158.62 - - - - - - - - - 16.04 -
14172.03 607.37 8.18 1643 14173.36 VBD 1.25 - - 2447.69 - - - 2219.44 - 77.86 - - 2158.28 - - - - - - - - - - -
14472.09 584.31 7.60 1673 14473.42 VBD 1.25 - - 2447.88 - - - 2219.56 - 77.86 - - 2158.69 - - - - - - - - - - -
14772.16 561.85 7.54 1703 14773.49 VBD 1.27 - - 2447.88 - - - 2219.62 - 77.86 - - 2159.09 - - - - - - - - - - -
15072.21 541.56 6.42 1733 15073.54 VBD 1.32 - - 2447.88 - - - 2219.69 - 77.86 - - 2159.75 - - - - - - - - - - -
15372.24 521.83 6.69 1763 15373.57 VBD 1.36 - - 2447.56 - - - 2219.50 - 77.86 - - 2160.22 - - - - - - - - - - -
15672.27 504.24 5.66 1793 15702.94 1.46 0.27 0.089 2502.38 203.0 - - 2219.81 - 111.93 27.62 1.679 2044.81 -4.2 0.211 - - - - - - 16.04 - 12.93
16002.30 475.14 8.94 1826 16006.87 roll 1.46 - - 2502.69 - 3.38 0.130 3473.88 371.0 111.93 - - 2037.75 - - - - - - - - - 15.92 -
16072.32 467.50 11.38 1840 16076.97 roll 1.46 - - 2502.62 - 3.18 0.061 2179.81 -406.9 111.93 - - 2037.12 - - - - - - - - - 15.95 -
16382.34 440.46 8.56 1872 16383.67 no move 1.46 - - 2503.19 - - - 2180.81 - 111.93 - - 2035.03 - - - - - - - - - - -
16682.38 414.00 9.57 1902 16688.20 roll 1.46 - - 2502.44 - 3.99 0.144 736.31 -362.0 111.93 - - 2034.16 - - - - - - - - - 15.98 -
16731.31 408.52 11.00 1912 16738.14 done 1.46 - - 2502.25 - 3.60 0.057 2219.56 412.0 111.93 - - 2036.47 - - - - - - - - - 15.99 -
17037.42 379.83 9.06 1943 17043.25 done 1.46 - - 2502.81 - 4.05 0.139 737.19 -366.0 111.93 - - 2037.38 - - - - - - - - - 15.99 -
17106.42 371.85 11.82 1957 17113.20 done 1.46 - - 2502.00 - 3.57 0.056 2220.50 415.5 111.93 - - 2035.88 - - - - - - - - - 16.01 -
17412.47 344.80 8.89 1988 17418.31 done 1.46 - - 2503.00 - 4.05 0.139 735.25 -366.7 111.93 - - 2033.81 - - - - - - - - - 15.99 -
17451.43 340.87 10.11 1996 17458.47 done 1.46 - - 2502.25 - 3.54 0.054 2221.31 419.8 111.93 - - 2036.06 - - - - - - - - - 16.01 -
17757.52 313.49 8.48 2027 17762.22 done 1.46 - - 2502.38 - 3.35 0.123 3472.56 373.5 111.93 - - 2035.56 - - - - - - - - - 16.01 -
17841.38 305.22 9.52 2044 17848.21 done 1.46 - - 2502.44 - 3.14 0.057 2180.50 -411.5 111.93 - - 2034.69 - - - - - - - - - 16.02 -
18147.56 280.13 7.92 2075 18153.38 done 1.46 - - 2502.44 - 3.96 0.141 735.25 -365.0 111.93 - - 2032.41 - - - - - - - - - 16.01 -
18256.50 270.10 9.43 2097 18263.34 done 1.46 - - 2502.25 - 3.56 0.055 2221.69 417.5 111.93 - - 2033.88 - - - - - - - - - 16.03 -
18562.62 246.68 7.87 2128 18568.45 done 1.46 - - 2502.56 - 4.05 0.136 736.25 -366.8 111.93 - - 2033.88 - - - - - - - - - 16.02 -
18701.56 233.78 8.85 2156 18708.41 done 1.46 - - 2501.44 - 3.57 0.057 2222.44 416.3 111.93 - - 2034.69 - - - - - - - - - 16.01 -
19007.70 210.83 6.97 2187 19013.65 done 1.49 - - 2502.50 - 4.03 0.136 736.31 -368.8 111.93 - - 2032.91 - - - - - - - - - 16.02 -
19116.63 200.88 9.23 2209 19123.49 done 1.49 - - 2503.12 - 3.56 0.058 2222.88 417.6 111.93 - - 2033.34 - - - - - - - - - 16.02 -
19422.81 181.61 5.69 2240 19458.13 done 1.59 - - 2502.00 - 4.07 0.138 736.44 -365.2 145.59 28.77 1.312 1905.97 -4.4 0.103 - - - - - - - 15.85 12.92
19542.83 172.58 9.10 2264 19548.43 roll 1.59 - - 2502.94 - 3.53 0.055 2221.00 420.6 145.59 - - 1899.59 - - - - - - - - - 15.90 -
19847.89 148.71 8.47 2295 19852.58 roll 1.59 - - 2502.12 - 3.34 0.121 3471.88 374.5 145.59 - - 1899.34 - - - - - - - - - 15.94 -
20061.83 129.98 6.87 2338 20068.72 roll back 1.63 0.19 0.102 2541.50 207.3 3.14 0.054 2178.12 -412.0 145.59 - - 1898.34 - - - - - - - - 15.93 15.96 -
20368.05 116.37 3.59 2369 20425.99 1.82 0.24 0.092 2590.12 202.6 4.00 0.138 737.31 -360.2 209.32 51.74 1.242 1645.56 -4.9 0.077 - - - - - - 15.94 15.71 12.89
20523.78 105.52 8.00 2400 20529.38 roll 1.82 - - 2591.50 - 3.59 0.054 2222.12 413.6 209.32 - - 1641.41 - - - - - - - - - 15.82 -
20828.90 86.28 5.70 2453 20864.84 done 1.92 - - 2591.25 - 4.12 0.134 735.31 -360.9 242.80 27.66 1.156 1509.34 -4.8 0.060 - - - - - - - 15.72 12.87
21088.97 60.15 11.27 2505 21094.75 roll 1.92 - - 2591.62 - 3.61 0.054 2222.81 412.0 242.80 - - 1504.94 - - - - - - - - - 15.81 -
21274.10 46.95 6.47 2542 21280.09 roll back 1.97 0.16 0.106 2624.88 207.9 4.09 0.131 735.19 -363.7 242.80 - - 1503.75 - - - - - - - - 15.85 15.83 -
21334.08 42.58 7.47 2554 21339.84 roll 1.98 - - 2623.38 - 3.57 0.052 2224.38 417.1 242.80 - - 1504.59 - - - - - - - - - 15.87 -
21519.19 33.01 5.93 2591 21550.58 done 2.07 - - 2624.50 - 3.34 0.120 3473.00 373.8 273.00 26.02 1.084 1386.00 -4.6 0.023 - - - - - - - 15.74 12.86
21594.17 27.21 8.68 2606 21599.99 roll 2.07 - - 2624.75 - 3.14 0.054 2178.75 -412.2 273.00 - - 1384.19 - - - - - - - - - 15.82 -
21779.22 9.64 9.95 2643 21785.03 roll 2.07 - - 2624.25 - 3.97 0.136 736.62 -363.3 273.00 - - 1384.38 - - - - - - - - - 15.82 -
21829.24 3.58 12.49 2653 21834.98 roll 2.07 - - 2625.00 - 3.55 0.051 2223.69 418.9 273.00 - - 1383.69 - - - - - - - - - 15.84 -
21845 end climb: SURFACE_DEPTH_REACHED
21845 begin surface coast
21860 end surface coast: CONTROL_FINISHED_OK
21860 begin surface
SM 0.77 - - - - 174.1 0.85 0.147 768.4 904.0 16.07 0.099 766.9 47.7 - 0.34 0.089 769.8 2253.7 -1.993 - - 15.46 15.81 15.87 -