NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 207 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 65.28 of 575.00 AH used of 24V (88.65% remains)
• Surface angle -62.1 deg, depth 0.73 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.76 (SM_CC=425)
• GPS1 time: 26 s
• GPS2 time: 3 s • 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 - - - 84.75 VBD -1.25 - - 174.00 - - - 2078.31 - -77.86 77.49 0.005 2496.41 - - - - - - - - - - 15.61
85.01 3.51 -3.91 15 111.04 -1.25 13.81 0.267 1836.12 120.4 - - 2079.00 - -77.86 7.68 0.008 2815.62 41.6 -3.068 - - - - - - 15.63 - 15.64
288.84 46.45 -17.20 56 294.68 roll -1.25 - - 1835.50 - 4.08 0.162 662.81 -347.1 -77.86 - - 2817.62 - - - - - - - - - 15.75 -
318.86 51.51 -16.94 62 324.65 roll -1.25 - - 1835.56 - 3.60 0.059 2118.50 404.4 -77.86 - - 2818.03 - - - - - - - - - 15.79 -
503.96 80.28 -16.49 99 509.81 roll -1.25 - - 1835.62 - 4.16 0.158 663.81 -349.7 -77.86 - - 2817.78 - - - - - - - - - 15.81 -
538.99 86.57 -19.01 106 544.74 roll -1.25 - - 1835.81 - 3.62 0.056 2118.56 401.9 -77.86 - - 2817.41 - - - - - - - - - 15.84 -
729.03 111.23 -10.97 135 734.81 roll -1.25 - - 1835.75 - 4.14 0.156 663.88 -351.4 -77.86 - - 2817.28 - - - - - - - - - 15.85 -
764.05 115.70 -12.61 142 769.66 roll -1.25 - - 1835.19 - 3.56 0.056 2121.56 409.5 -77.86 - - 2817.62 - - - - - - - - - 15.89 -
1069.11 148.94 -10.99 173 1070.43 no move -1.25 - - 1835.25 - - - 2120.81 - -77.86 - - 2818.56 - - - - - - - - - - -
1369.18 181.47 -10.99 203 1374.88 roll -1.25 - - 1835.56 - 3.70 0.121 3473.06 365.5 -77.86 - - 2818.19 - - - - - - - - - 15.96 -
1434.21 189.84 -12.82 216 1438.86 roll -1.25 - - 1835.75 - 3.41 0.064 2083.25 -407.6 -77.86 - - 2821.12 - - - - - - - - - 15.96 -
1744.26 224.33 -10.84 248 1745.59 no move -1.25 - - 1835.38 - - - 2083.12 - -77.86 - - 2818.22 - - - - - - - - - - -
2044.27 257.69 -11.99 278 2045.60 no move -1.25 - - 1835.19 - - - 2083.19 - -77.86 - - 2818.91 - - - - - - - - - - -
2344.31 289.26 -10.48 308 2345.64 no move -1.25 - - 1835.44 - - - 2082.12 - -77.86 - - 2818.84 - - - - - - - - - - -
2644.35 321.45 -10.25 338 2645.67 no move -1.25 - - 1835.50 - - - 2082.25 - -77.86 - - 2819.00 - - - - - - - - - - -
2944.39 350.94 -9.99 368 2945.72 no move -1.25 - - 1835.19 - - - 2082.56 - -77.86 - - 2818.41 - - - - - - - - - - -
3244.43 378.81 -10.25 398 3245.76 no move -1.25 - - 1835.44 - - - 2082.88 - -77.86 - - 2817.94 - - - - - - - - - - -
3544.47 408.67 -9.53 428 3545.80 no move -1.25 - - 1835.38 - - - 2082.88 - -77.86 - - 2816.66 - - - - - - - - - - -
3844.51 437.17 -9.39 458 3845.84 no move -1.25 - - 1835.44 - - - 2082.62 - -77.86 - - 2816.25 - - - - - - - - - - -
4144.56 463.58 -8.67 488 4145.88 no move -1.25 - - 1835.50 - - - 2082.56 - -77.86 - - 2815.59 - - - - - - - - - - -
4444.60 491.61 -9.50 518 4450.37 roll -1.25 - - 1834.75 - 4.01 0.174 663.88 -353.8 -77.86 - - 2816.97 - - - - - - - - - 16.04 -
4499.63 497.75 -10.75 529 4505.31 roll -1.25 - - 1835.81 - 3.56 0.065 2116.50 408.0 -77.86 - - 2815.66 - - - - - - - - - 16.08 -
4804.66 528.48 -10.55 560 4805.99 no move -1.25 - - 1835.00 - - - 2116.50 - -77.86 - - 2816.12 - - - - - - - - - - -
5104.71 557.24 -9.55 590 5106.04 no move -1.25 - - 1835.56 - - - 2116.38 - -77.86 - - 2813.59 - - - - - - - - - - -
5404.77 587.09 -9.90 620 5406.10 no move -1.25 - - 1835.62 - - - 2116.25 - -77.86 - - 2814.72 - - - - - - - - - - -
5704.83 616.40 -9.63 650 5710.54 roll -1.25 - - 1835.44 - 3.71 0.134 3473.62 365.9 -77.86 - - 2814.62 - - - - - - - - - 16.08 -
5749.86 621.45 -11.18 659 5754.49 roll -1.25 - - 1836.25 - 3.44 0.072 2083.94 -404.0 -77.86 - - 2816.66 - - - - - - - - - 16.10 -
6059.91 650.33 -9.91 691 6061.24 no move -1.25 - - 1835.50 - - - 2084.50 - -77.86 - - 2812.16 - - - - - - - - - - -
6359.97 677.10 -9.53 721 6361.30 no move -1.25 - - 1835.38 - - - 2084.06 - -77.86 - - 2812.44 - - - - - - - - - - -
6660.02 703.02 -9.12 751 6665.80 roll -1.25 - - 1836.12 - 4.09 0.183 664.06 -347.2 -77.86 - - 2812.94 - - - - - - - - - 16.05 -
6705.06 708.00 -10.86 760 6710.73 roll -1.25 - - 1835.62 - 3.55 0.071 2116.19 409.1 -77.86 - - 2811.78 - - - - - - - - - 16.10 -
7010.11 735.84 -8.94 791 7015.89 roll -1.25 - - 1835.62 - 4.15 0.180 664.94 -349.7 -77.86 - - 2810.81 - - - - - - - - - 16.05 -
7079.13 742.34 -9.77 805 7085.91 roll -1.25 - - 1835.69 - 3.58 0.070 2115.31 405.1 -77.86 - - 2813.72 - - - - - - - - - 16.09 -
7385.19 768.24 -8.92 836 7390.97 roll -1.25 - - 1835.44 - 4.16 0.180 664.94 -348.6 -77.86 - - 2811.34 - - - - - - - - - 16.06 -
7440.27 773.56 -10.26 847 7445.89 roll -1.25 - - 1835.81 - 3.57 0.070 2115.88 406.4 -77.86 - - 2813.72 - - - - - - - - - 16.09 -
7745.25 797.87 -7.05 878 7751.03 roll -1.25 - - 1835.69 - 4.18 0.180 664.00 -347.3 -77.86 - - 2809.31 - - - - - - - - - 16.05 -
7810.33 804.40 -9.39 891 7815.95 roll -1.25 - - 1835.44 - 3.58 0.072 2116.12 405.6 -77.86 - - 2809.78 - - - - - - - - - 16.09 -
8115.30 827.32 -7.71 922 8116.63 no move -1.25 - - 1835.69 - - - 2116.06 - -77.86 - - 2809.12 - - - - - - - - - - -
8415.34 850.95 -7.65 952 8416.67 no move -1.25 - - 1834.75 - - - 2116.31 - -77.86 - - 2812.62 - - - - - - - - - - -
8715.38 873.74 -7.92 982 8716.71 no move -1.25 - - 1833.88 - - - 2116.25 - -77.86 - - 2812.38 - - - - - - - - - - -
9015.42 897.49 -9.35 1012 9021.54 roll -1.25 - - 1835.38 - 4.16 0.185 663.81 -349.1 -77.86 - - 2809.16 - - - - - - - - - 16.06 -
9150.45 910.07 -10.74 1039 9156.29 roll -1.25 - - 1834.56 - 3.68 0.076 2113.62 394.0 -77.86 - - 2811.44 - - - - - - - - - 16.10 -
9455.50 933.42 -7.27 1070 9456.83 no move -1.25 - - 1835.44 - - - 2114.12 - -77.86 - - 2808.81 - - - - - - - - - - -
9755.54 954.75 -7.60 1100 9756.86 no move -1.25 - - 1835.06 - - - 2114.56 - -77.86 - - 2809.41 - - - - - - - - - - -
10055.59 977.82 -7.03 1130 10056.92 no move -1.25 - - 1835.94 - - - 2114.62 - -77.86 - - 2807.91 - - - - - - - - - - -
10226 end dive: TARGET_DEPTH_EXCEEDED
10226 begin apogee
10226.85 990.60 -6.50 1147 10296.60 -0.25 1.75 0.158 2081.12 140.1 0.07 0.323 2185.19 1008.1 - 64.03 2.299 2498.28 -4.8 0.351 - - - - - - 16.04 15.59 13.02
10298 end apogee: CONTROL_FINISHED_OK
10298 begin climb
10298.08 992.19 - 1154 10377.92 1.25 2.48 0.094 2448.38 148.1 3.80 0.140 3471.69 338.6 77.86 71.20 2.245 2180.84 -4.5 0.332 - - - - - - 15.63 15.24 12.81
10469.53 977.27 10.42 1188 10476.42 done 1.25 - - 2447.75 - 3.32 0.069 2186.25 -387.2 77.86 - - 2174.84 - - - - - - - - - 15.49 -
10775.76 942.86 12.13 1219 10777.09 VBD 1.25 - - 2448.12 - - - 2186.44 - 77.86 - - 2168.75 - - - - - - - - - - -
11075.82 911.05 9.62 1249 11077.15 VBD 1.25 - - 2448.19 - - - 2186.12 - 77.86 - - 2166.09 - - - - - - - - - - -
11375.88 882.92 9.88 1279 11381.67 done 1.25 - - 2446.62 - 4.13 0.159 737.44 -350.8 77.86 - - 2165.53 - - - - - - - - - 15.86 -
11464.76 873.07 10.88 1297 11471.69 done 1.25 - - 2447.44 - 3.65 0.068 2215.31 404.9 77.86 - - 2164.31 - - - - - - - - - 15.90 -
11770.99 844.37 8.92 1328 11776.59 done 1.25 - - 2447.50 - 3.47 0.140 3470.38 361.7 77.86 - - 2163.50 - - - - - - - - - 15.92 -
11856.03 835.98 9.12 1345 11860.57 done 1.25 - - 2447.94 - 3.21 0.069 2183.38 -400.9 77.86 - - 2164.09 - - - - - - - - - 15.94 -
12166.09 807.21 8.63 1377 12167.43 VBD 1.25 - - 2447.81 - - - 2184.00 - 77.86 - - 2162.59 - - - - - - - - - - -
12466.16 779.86 8.39 1407 12467.49 VBD 1.25 - - 2448.25 - - - 2184.12 - 77.86 - - 2160.59 - - - - - - - - - - -
12766.20 752.05 9.56 1437 12767.53 VBD 1.25 - - 2447.88 - - - 2184.62 - 77.86 - - 2160.00 - - - - - - - - - - -
13066.23 725.02 8.07 1467 13067.57 VBD 1.25 - - 2448.06 - - - 2183.81 - 77.86 - - 2160.59 - - - - - - - - - - -
13366.26 699.81 8.35 1497 13367.59 VBD 1.25 - - 2448.38 - - - 2183.62 - 77.86 - - 2160.09 - - - - - - - - - - -
13666.30 673.64 7.91 1527 13667.63 VBD 1.25 - - 2447.75 - - - 2183.94 - 77.86 - - 2160.19 - - - - - - - - - - -
13966.34 651.65 6.42 1557 13967.67 VBD 1.30 - - 2447.75 - - - 2184.12 - 77.86 - - 2159.22 - - - - - - - - - - -
14266.38 631.96 6.69 1587 14267.71 VBD 1.34 - - 2447.75 - - - 2184.62 - 77.86 - - 2160.00 - - - - - - - - - - -
14566.41 612.74 6.88 1617 14567.88 1.38 0.16 0.125 2484.12 227.3 - - 2184.38 - 77.86 - - 2159.03 - - - - - - - - 16.02 - -
14866.45 590.50 7.47 1647 14867.78 VBD 1.39 - - 2484.00 - - - 2184.69 - 77.86 - - 2159.78 - - - - - - - - - - -
15166.46 566.84 8.45 1677 15167.79 VBD 1.39 - - 2484.38 - - - 2184.00 - 77.86 - - 2158.50 - - - - - - - - - - -
15466.49 541.71 7.95 1707 15467.83 VBD 1.39 - - 2484.19 - - - 2184.50 - 77.86 - - 2160.72 - - - - - - - - - - -
15766.54 518.07 7.50 1737 15771.29 done 1.41 - - 2484.50 - 3.56 0.134 3471.38 361.5 77.86 - - 2157.81 - - - - - - - - - 16.06 -
15996.60 496.34 9.46 1783 16001.25 done 1.41 - - 2483.94 - 3.18 0.067 2180.94 -405.8 77.86 - - 2160.78 - - - - - - - - - 16.05 -
16306.62 469.62 8.84 1815 16312.38 done 1.41 - - 2483.38 - 4.01 0.149 737.12 -360.1 77.86 - - 2159.72 - - - - - - - - - 16.05 -
16461.88 455.04 10.03 1846 16467.41 done 1.41 - - 2483.56 - 3.58 0.063 2219.69 414.1 77.86 - - 2156.78 - - - - - - - - - 16.07 -
16766.72 433.21 7.24 1877 16768.05 VBD 1.44 - - 2483.31 - - - 2219.81 - 77.86 - - 2157.06 - - - - - - - - - - -
17066.76 416.75 4.95 1907 17108.38 1.57 0.22 0.091 2529.69 210.8 3.50 0.132 3472.50 357.9 122.16 36.28 1.611 2000.34 -4.3 0.188 - - - - - - 16.05 15.82 12.98
17177.05 406.97 10.67 1929 17182.49 roll 1.57 - - 2529.00 - 3.22 0.063 2181.88 -400.8 122.16 - - 1996.53 - - - - - - - - - 15.90 -
17481.85 377.01 10.23 1960 17487.44 roll 1.57 - - 2529.12 - 3.59 0.126 3471.38 359.2 122.16 - - 1997.28 - - - - - - - - - 15.93 -
17620.75 360.33 12.69 1988 17627.62 roll 1.57 - - 2530.75 - 3.21 0.064 2183.81 -401.1 122.16 - - 1994.97 - - - - - - - - - 15.95 -
17926.97 328.36 9.67 2019 17928.29 no move 1.57 - - 2530.38 - - - 2184.25 - 122.16 - - 1993.12 - - - - - - - - - - -
18227.03 298.67 9.96 2049 18232.80 done 1.57 - - 2529.88 - 4.05 0.146 737.19 -357.3 122.16 - - 1992.50 - - - - - - - - - 15.97 -
18342.07 286.12 11.25 2072 18347.77 done 1.57 - - 2529.88 - 3.67 0.060 2221.38 404.4 122.16 - - 1990.66 - - - - - - - - - 16.00 -
18647.14 255.61 9.50 2103 18651.72 done 1.57 - - 2530.62 - 3.44 0.125 3471.50 363.4 122.16 - - 1992.78 - - - - - - - - - 16.01 -
18761.08 243.02 10.90 2126 18767.88 done 1.57 - - 2529.94 - 3.19 0.060 2180.75 -404.6 122.16 - - 1991.69 - - - - - - - - - 16.01 -
19067.22 211.46 10.45 2157 19068.55 VBD 1.57 - - 2530.31 - - - 2180.25 - 122.16 - - 1992.06 - - - - - - - - - - -
19367.25 183.44 9.41 2187 19373.00 done 1.57 - - 2529.44 - 4.00 0.142 736.38 -361.0 122.16 - - 1993.47 - - - - - - - - - 16.01 -
19426.25 177.51 9.52 2199 19433.03 done 1.57 - - 2529.56 - 3.63 0.057 2221.06 409.0 122.16 - - 1991.97 - - - - - - - - - 16.00 -
19732.32 152.93 7.45 2230 19733.65 VBD 1.59 - - 2529.88 - - - 2221.25 - 122.16 - - 1989.53 - - - - - - - - - - -
20032.34 132.17 7.07 2260 20033.68 VBD 1.62 - - 2529.94 - - - 2221.38 - 122.16 - - 1990.12 - - - - - - - - - - -
20332.37 111.48 7.66 2290 20338.20 done 1.62 - - 2528.94 - 4.09 0.136 737.62 -362.8 122.16 - - 1992.88 - - - - - - - - - 16.01 -
20561.41 102.35 1.91 2336 20639.19 1.88 0.41 0.074 2604.75 184.9 3.60 0.057 2226.19 413.5 209.75 69.56 1.249 1644.22 -5.0 0.069 - - - - - - 16.01 16.04 13.02
20937.48 70.55 10.60 2409 20943.34 done 1.88 - - 2604.31 - 4.18 0.135 737.31 -356.2 209.75 - - 1636.19 - - - - - - - - - 15.83 -
21167.53 44.35 10.97 2455 21173.31 done 1.88 - - 2602.88 - 3.67 0.058 2221.69 404.5 209.75 - - 1636.56 - - - - - - - - - 15.89 -
21353.75 39.63 1.47 2492 21436.20 2.16 0.38 0.076 2672.00 181.9 3.49 0.123 3472.62 358.4 303.74 74.67 1.144 1261.03 -5.0 0.029 - - - - - - 15.89 15.60 12.89
21639.10 16.47 13.92 2549 21644.76 roll 2.16 - - 2671.62 - 3.26 0.057 2181.94 -395.9 303.74 - - 1255.50 - - - - - - - - - 15.75 -
21754 end climb: SURFACE_DEPTH_REACHED
21754 begin surface coast
21769 end surface coast: CONTROL_FINISHED_OK
21769 begin surface
SM 0.21 - - - - 175.1 - 0.015 768.4 - 15.96 0.065 774.8 48.5 - 0.23 0.114 762.0 3298.9 -0.621 - - 30.36 15.76 15.79 -