NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 255 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 79.96 of 575.00 AH used of 24V (86.09% remains)
• Surface angle -61.7 deg, depth 0.58 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.70 (SM_CC=425)
• GPS1 time: 29 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
6.77 - - - 84.95 VBD -1.25 - - 174.00 - - - 2081.25 - -77.86 77.60 0.005 2491.19 - - - - - - - - - - 15.60
85.21 3.46 -4.01 15 116.98 -1.25 13.48 0.257 1836.31 123.3 4.09 0.158 663.75 -346.6 -77.86 8.05 0.008 2817.19 40.5 -2.951 - - - - - - 15.62 15.59 15.62
319.80 56.45 -20.18 62 325.58 roll -1.25 - - 1836.31 - 3.60 0.055 2118.50 404.1 -77.86 - - 2819.31 - - - - - - - - - 15.80 -
504.86 84.51 -13.39 99 510.62 roll -1.25 - - 1836.31 - 3.70 0.114 3473.38 366.2 -77.86 - - 2817.19 - - - - - - - - - 15.84 -
554.89 91.29 -13.02 109 560.59 roll -1.25 - - 1836.44 - 3.40 0.056 2081.00 -409.5 -77.86 - - 2819.91 - - - - - - - - - 15.85 -
744.91 112.85 -11.34 136 750.56 roll -1.25 - - 1836.62 - 3.76 0.112 3473.88 370.4 -77.86 - - 2816.75 - - - - - - - - - 15.89 -
849.96 125.71 -12.37 157 854.54 roll -1.25 - - 1836.62 - 3.41 0.057 2081.94 -408.2 -77.86 - - 2818.28 - - - - - - - - - 15.90 -
1160.00 162.38 -11.27 189 1165.83 roll -1.25 - - 1836.50 - 4.01 0.157 663.75 -353.7 -77.86 - - 2820.50 - - - - - - - - - 15.91 -
1178.94 164.95 -12.53 193 1185.78 roll -1.25 - - 1837.00 - 3.53 0.051 2119.19 412.3 -77.86 - - 2817.81 - - - - - - - - - 15.94 -
1485.06 197.76 -10.81 224 1490.89 roll -1.25 - - 1835.75 - 4.09 0.155 662.88 -356.1 -77.86 - - 2820.84 - - - - - - - - - 15.95 -
1534.03 204.18 -13.24 234 1540.85 roll -1.25 - - 1837.12 - 3.53 0.055 2120.12 412.8 -77.86 - - 2818.91 - - - - - - - - - 15.97 -
1840.13 236.84 -10.58 265 1845.97 roll -1.25 - - 1836.12 - 4.09 0.155 664.06 -356.0 -77.86 - - 2816.19 - - - - - - - - - 15.97 -
1879.07 241.88 -12.84 273 1885.90 roll -1.25 - - 1836.62 - 3.54 0.053 2120.31 411.4 -77.86 - - 2820.53 - - - - - - - - - 16.00 -
2185.20 275.13 -10.62 304 2190.83 roll -1.25 - - 1836.94 - 3.65 0.119 3472.50 370.5 -77.86 - - 2816.25 - - - - - - - - - 16.01 -
2264.08 284.53 -12.14 320 2270.94 roll -1.25 - - 1837.00 - 3.40 0.060 2082.31 -408.9 -77.86 - - 2818.88 - - - - - - - - - 16.02 -
2570.24 315.14 -9.92 351 2571.57 no move -1.25 - - 1837.00 - - - 2082.19 - -77.86 - - 2818.25 - - - - - - - - - - -
2870.25 344.79 -9.97 381 2875.89 roll -1.25 - - 1836.88 - 3.80 0.121 3473.50 366.1 -77.86 - - 2817.19 - - - - - - - - - 16.04 -
2925.28 350.84 -11.05 392 2929.86 roll -1.25 - - 1836.94 - 3.39 0.064 2082.12 -410.4 -77.86 - - 2817.44 - - - - - - - - - 16.04 -
3235.29 382.27 -10.40 424 3240.94 roll -1.25 - - 1837.00 - 3.78 0.120 3473.25 368.0 -77.86 - - 2815.94 - - - - - - - - - 16.04 -
3320.40 391.52 -11.37 441 3324.88 roll -1.25 - - 1836.56 - 3.38 0.063 2081.62 -411.7 -77.86 - - 2818.38 - - - - - - - - - 16.04 -
3630.34 422.39 -9.31 473 3636.15 roll -1.25 - - 1836.62 - 3.99 0.164 662.88 -355.6 -77.86 - - 2817.44 - - - - - - - - - 16.03 -
3655.36 425.20 -10.42 478 3660.10 roll -1.25 - - 1837.00 - 3.52 0.055 2119.25 413.7 -77.86 - - 2817.06 - - - - - - - - - 16.06 -
3965.38 454.85 -9.59 510 3966.70 no move -1.25 - - 1836.94 - - - 2118.88 - -77.86 - - 2816.69 - - - - - - - - - - -
4265.40 482.85 -9.80 540 4266.72 no move -1.25 - - 1836.00 - - - 2119.38 - -77.86 - - 2818.31 - - - - - - - - - - -
4565.41 511.95 -9.80 570 4571.27 roll -1.25 - - 1836.88 - 4.11 0.167 663.62 -354.2 -77.86 - - 2814.34 - - - - - - - - - 16.04 -
4640.43 520.67 -11.69 585 4645.17 roll -1.25 - - 1836.88 - 3.58 0.060 2118.06 406.3 -77.86 - - 2816.41 - - - - - - - - - 16.07 -
4950.45 551.33 -9.63 617 4956.30 roll -1.25 - - 1837.06 - 4.12 0.168 663.88 -353.0 -77.86 - - 2813.31 - - - - - - - - - 16.04 -
5005.53 557.77 -12.02 628 5010.20 roll -1.25 - - 1837.19 - 3.57 0.060 2115.75 406.7 -77.86 - - 2816.25 - - - - - - - - - 16.08 -
5315.48 587.83 -9.14 660 5316.81 no move -1.25 - - 1836.94 - - - 2118.00 - -77.86 - - 2814.81 - - - - - - - - - - -
5615.49 616.71 -9.30 690 5616.82 no move -1.25 - - 1837.06 - - - 2118.06 - -77.86 - - 2813.62 - - - - - - - - - - -
5915.52 646.07 -9.88 720 5916.85 no move -1.25 - - 1837.19 - - - 2118.25 - -77.86 - - 2812.91 - - - - - - - - - - -
6215.55 674.35 -9.67 750 6221.17 roll -1.25 - - 1836.12 - 3.69 0.130 3474.25 367.5 -77.86 - - 2814.09 - - - - - - - - - 16.07 -
6294.42 682.56 -10.86 766 6301.30 roll -1.25 - - 1837.06 - 3.42 0.071 2085.38 -406.1 -77.86 - - 2814.50 - - - - - - - - - 16.08 -
6600.59 710.47 -8.83 797 6606.41 roll -1.25 - - 1836.31 - 4.05 0.176 662.81 -351.3 -77.86 - - 2813.22 - - - - - - - - - 16.04 -
6675.67 718.20 -9.44 812 6681.36 roll -1.25 - - 1836.69 - 3.54 0.064 2115.75 410.4 -77.86 - - 2811.53 - - - - - - - - - 16.08 -
6980.62 743.88 -8.74 843 6986.47 roll -1.25 - - 1836.44 - 4.11 0.171 662.69 -353.5 -77.86 - - 2813.22 - - - - - - - - - 16.05 -
7025.64 747.57 -8.86 852 7030.37 roll -1.25 - - 1837.19 - 3.56 0.063 2115.94 408.2 -77.86 - - 2814.97 - - - - - - - - - 16.07 -
7335.65 773.28 -8.44 884 7336.98 no move -1.25 - - 1836.62 - - - 2115.44 - -77.86 - - 2811.84 - - - - - - - - - - -
7635.66 798.79 -8.37 914 7641.43 roll -1.25 - - 1837.06 - 3.66 0.131 3474.44 371.3 -77.86 - - 2812.38 - - - - - - - - - 16.06 -
7674.78 802.73 -10.70 922 7681.52 roll -1.25 - - 1836.62 - 3.37 0.069 2085.31 -412.2 -77.86 - - 2814.34 - - - - - - - - - 16.08 -
7980.69 829.59 -9.38 953 7982.02 no move -1.25 - - 1837.00 - - - 2085.50 - -77.86 - - 2810.59 - - - - - - - - - - -
8280.74 855.76 -8.22 983 8282.07 no move -1.25 - - 1837.00 - - - 2085.62 - -77.86 - - 2809.19 - - - - - - - - - - -
8580.79 881.43 -9.01 1013 8586.59 roll -1.25 - - 1836.88 - 3.81 0.132 3473.81 364.4 -77.86 - - 2809.88 - - - - - - - - - 16.08 -
8649.69 888.23 -10.46 1027 8656.66 roll -1.25 - - 1835.38 - 3.38 0.073 2084.12 -411.2 -77.86 - - 2813.47 - - - - - - - - - 16.08 -
8955.86 912.86 -7.90 1058 8961.69 roll -1.25 - - 1837.06 - 4.04 0.182 664.69 -351.3 -77.86 - - 2809.78 - - - - - - - - - 16.04 -
8994.80 916.87 -10.01 1066 9001.63 roll -1.25 - - 1837.00 - 3.54 0.066 2117.06 410.3 -77.86 - - 2812.66 - - - - - - - - - 16.08 -
9300.92 941.07 -8.86 1097 9306.77 roll -1.25 - - 1836.56 - 4.11 0.179 663.75 -353.6 -77.86 - - 2807.78 - - - - - - - - - 16.04 -
9375.94 948.05 -11.72 1112 9380.70 roll -1.25 - - 1837.06 - 3.55 0.067 2114.44 408.6 -77.86 - - 2810.75 - - - - - - - - - 16.08 -
9686.00 972.60 -8.29 1144 9687.33 no move -1.25 - - 1836.81 - - - 2114.44 - -77.86 - - 2808.25 - - - - - - - - - - -
9906 end dive: TARGET_DEPTH_EXCEEDED
9906 begin apogee
9907.33 990.48 -8.64 1166 9977.33 -0.25 1.74 0.157 2080.44 140.0 0.08 0.305 2184.44 875.0 - 64.57 2.293 2500.28 -4.8 0.347 - - - - - - 16.02 15.59 12.88
9979 end apogee: CONTROL_FINISHED_OK
9979 begin climb
9978.92 992.26 - 1173 10060.13 1.25 2.46 0.098 2447.75 149.3 3.72 0.133 3471.94 346.1 77.86 72.17 2.228 2179.31 -4.4 0.334 - - - - - - 15.62 15.23 12.90
10061.85 987.96 4.04 1187 10123.26 1.42 0.24 0.094 2494.38 194.3 3.26 0.060 2182.50 -395.5 135.03 54.54 2.172 1948.59 -4.2 0.324 - - - - - - 15.31 15.32 12.71
10427.95 939.63 13.39 1230 10433.62 done 1.42 - - 2493.62 - 4.08 0.154 737.06 -354.3 135.03 - - 1938.34 - - - - - - - - - 15.62 -
10466.88 932.90 15.48 1238 10473.73 done 1.42 - - 2494.12 - 3.65 0.059 2215.44 405.0 135.03 - - 1936.12 - - - - - - - - - 15.64 -
10773.01 889.81 14.09 1269 10774.34 VBD 1.42 - - 2494.56 - - - 2215.69 - 135.03 - - 1931.62 - - - - - - - - - - -
11073.06 849.29 13.50 1299 11077.77 done 1.42 - - 2494.12 - 3.46 0.135 3471.81 363.0 135.03 - - 1933.94 - - - - - - - - - 15.85 -
11087.05 847.53 13.19 1302 11093.74 done 1.42 - - 2493.94 - 3.11 0.065 2184.38 -414.0 135.03 - - 1931.22 - - - - - - - - - 15.85 -
11393.11 805.72 12.37 1333 11398.71 done 1.42 - - 2494.06 - 3.54 0.131 3471.25 363.5 135.03 - - 1930.97 - - - - - - - - - 15.88 -
11411.97 802.66 12.96 1337 11419.01 done 1.42 - - 2494.44 - 3.11 0.063 2185.12 -413.5 135.03 - - 1930.50 - - - - - - - - - 15.91 -
11718.16 761.05 13.77 1368 11723.77 done 1.42 - - 2493.56 - 3.55 0.130 3471.62 362.4 135.03 - - 1931.81 - - - - - - - - - 15.93 -
11747.02 756.45 16.70 1374 11753.87 done 1.42 - - 2494.38 - 3.14 0.062 2181.19 -411.0 135.03 - - 1930.41 - - - - - - - - - 15.94 -
12053.20 713.73 13.33 1405 12059.01 done 1.42 - - 2494.19 - 3.94 0.150 736.94 -366.6 135.03 - - 1930.12 - - - - - - - - - 15.92 -
12078.23 709.52 16.85 1410 12082.95 done 1.42 - - 2494.06 - 3.59 0.058 2216.50 412.1 135.03 - - 1928.25 - - - - - - - - - 15.97 -
12388.26 668.02 13.82 1442 12394.20 done 1.42 - - 2491.25 - 4.03 0.149 737.31 -367.0 135.03 - - 1927.38 - - - - - - - - - 15.96 -
12413.27 664.32 14.78 1447 12418.14 done 1.42 - - 2494.38 - 3.54 0.058 2218.00 418.3 135.03 - - 1927.62 - - - - - - - - - 15.98 -
12723.29 623.37 12.97 1479 12724.63 VBD 1.42 - - 2494.50 - - - 2218.06 - 135.03 - - 1926.47 - - - - - - - - - - -
13023.32 583.99 12.69 1509 13028.03 done 1.42 - - 2493.50 - 3.40 0.132 3474.19 369.5 135.03 - - 1927.09 - - - - - - - - - 16.00 -
13103.35 572.07 14.75 1525 13107.87 done 1.42 - - 2494.38 - 3.14 0.062 2183.25 -411.1 135.03 - - 1927.28 - - - - - - - - - 16.00 -
13413.40 533.82 12.05 1557 13414.73 VBD 1.42 - - 2494.00 - - - 2183.62 - 135.03 - - 1926.66 - - - - - - - - - - -
13713.41 496.54 12.32 1587 13719.21 done 1.42 - - 2494.62 - 3.96 0.148 736.94 -365.3 135.03 - - 1925.62 - - - - - - - - - 16.01 -
13738.43 493.22 12.91 1592 13744.09 done 1.42 - - 2493.56 - 3.57 0.056 2220.00 415.4 135.03 - - 1926.41 - - - - - - - - - 16.02 -
14043.45 456.26 11.90 1623 14044.79 VBD 1.42 - - 2493.75 - - - 2220.25 - 135.03 - - 1924.66 - - - - - - - - - - -
14343.48 419.39 11.92 1653 14344.82 VBD 1.42 - - 2494.25 - - - 2219.88 - 135.03 - - 1925.34 - - - - - - - - - - -
14643.52 386.04 10.59 1683 14644.85 VBD 1.42 - - 2493.88 - - - 2219.69 - 135.03 - - 1924.50 - - - - - - - - - - -
14943.56 354.35 10.79 1713 14948.14 done 1.42 - - 2494.38 - 3.43 0.128 3473.12 365.4 135.03 - - 1927.94 - - - - - - - - - 16.04 -
15003.58 347.28 12.14 1725 15008.10 done 1.42 - - 2494.06 - 3.12 0.059 2181.25 -414.1 135.03 - - 1926.84 - - - - - - - - - 16.04 -
15313.61 315.00 9.86 1757 15319.41 done 1.42 - - 2493.88 - 3.94 0.143 736.19 -366.8 135.03 - - 1924.84 - - - - - - - - - 16.01 -
15348.62 310.82 11.95 1764 15353.42 done 1.42 - - 2494.25 - 3.56 0.056 2217.12 416.0 135.03 - - 1926.00 - - - - - - - - - 16.04 -
15658.66 279.56 9.50 1796 15664.47 done 1.42 - - 2493.81 - 4.05 0.138 736.50 -365.6 135.03 - - 1923.69 - - - - - - - - - 16.03 -
15693.67 275.99 10.74 1803 15699.34 done 1.42 - - 2494.50 - 3.56 0.052 2222.19 417.3 135.03 - - 1923.81 - - - - - - - - - 16.05 -
15998.69 248.14 9.29 1834 16000.03 VBD 1.42 - - 2494.44 - - - 2222.50 - 135.03 - - 1926.00 - - - - - - - - - - -
16298.73 221.87 8.84 1864 16304.55 done 1.42 - - 2493.94 - 4.02 0.138 736.12 -369.7 135.03 - - 1924.06 - - - - - - - - - 16.01 -
16333.75 218.28 10.25 1871 16338.50 done 1.42 - - 2494.12 - 3.57 0.054 2221.38 416.0 135.03 - - 1923.69 - - - - - - - - - 16.02 -
16643.89 191.15 8.90 1903 16648.50 done 1.42 - - 2494.06 - 3.35 0.121 3473.25 373.7 135.03 - - 1926.41 - - - - - - - - - 16.02 -
16743.90 180.85 10.83 1923 16748.34 done 1.42 - - 2494.56 - 3.08 0.055 2180.31 -419.8 135.03 - - 1925.38 - - - - - - - - - 16.03 -
17053.88 150.05 9.52 1955 17055.21 VBD 1.42 - - 2494.00 - - - 2180.31 - 135.03 - - 1925.75 - - - - - - - - - - -
17354.07 124.76 8.26 1985 17359.74 done 1.42 - - 2494.06 - 3.90 0.138 735.19 -370.5 135.03 - - 1924.81 - - - - - - - - - 16.00 -
17512.93 112.24 6.94 2017 17519.90 done 1.46 - - 2494.06 - 3.55 0.053 2224.56 419.5 135.03 - - 1924.84 - - - - - - - - - 16.05 -
17819.08 98.21 3.65 2053 17875.37 1.65 0.26 0.091 2547.69 206.3 3.40 0.120 3472.94 367.2 197.88 48.12 1.217 1691.59 -4.8 0.066 - - - - - - 16.01 15.78 12.95
17949.08 87.62 8.99 2079 17954.77 roll 1.65 - - 2547.88 - 3.12 0.053 2178.69 -414.8 197.88 - - 1687.81 - - - - - - - - - 15.87 -
18134.15 73.22 7.89 2116 18139.90 done 1.65 - - 2547.75 - 3.52 0.114 3472.44 367.5 197.88 - - 1686.03 - - - - - - - - - 15.88 -
18364.24 59.10 5.88 2162 18395.46 done 1.74 - - 2547.94 - 3.12 0.052 2177.12 -415.2 228.84 25.89 1.114 1568.00 -4.6 0.041 - - - - - - - 15.91 12.84
18574.29 45.42 5.58 2204 18612.09 1.84 0.23 0.093 2597.56 215.7 3.57 0.113 3474.25 363.3 264.09 30.14 1.095 1421.94 -4.8 0.034 - - - - - - 15.85 15.71 12.88
18834.92 26.57 8.76 2256 18840.60 roll 1.84 - - 2596.44 - 3.17 0.052 2180.25 -408.2 264.09 - - 1418.78 - - - - - - - - - 15.83 -
19020.00 9.81 9.20 2293 19025.73 roll 1.84 - - 2596.56 - 3.56 0.114 3473.56 363.3 264.09 - - 1417.12 - - - - - - - - - 15.85 -
19050.00 6.77 9.93 2299 19055.67 roll 1.84 - - 2597.81 - 3.17 0.052 2181.38 -407.6 264.09 - - 1417.19 - - - - - - - - - 15.86 -
19100 end climb: SURFACE_DEPTH_REACHED
19100 begin surface coast
19120 end surface coast: CONTROL_FINISHED_OK
19120 begin surface
SM 0.79 - - - - 173.9 - 2.777 768.7 - 15.80 0.094 774.3 49.0 - 0.22 0.110 763.0 3453.8 -2.535 - - 30.36 15.82 15.87 -