NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 215 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 67.76 of 575.00 AH used of 24V (88.22% remains)
• Surface angle -58.0 deg, depth 0.67 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.48 (SM_CC=425)
• GPS1 time: 107 s
• GPS2 time: 2 s • Transponder ping count: 5
• 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
6.67 - - - 84.76 VBD -1.25 - - 172.88 - - - 2120.06 - -77.86 77.51 0.005 2474.81 - - - - - - - - - - 15.62
85.03 3.47 -4.07 15 116.87 -1.25 13.51 0.260 1835.50 123.1 4.36 0.166 663.75 -334.0 -77.86 8.76 0.007 2816.03 39.0 -3.255 - - - - - - 15.63 15.61 15.65
199.62 30.11 -26.21 38 205.39 roll -1.25 - - 1835.50 - 3.67 0.062 2116.44 395.8 -77.86 - - 2817.97 - - - - - - - - - 15.75 -
384.69 64.27 -14.36 75 390.47 roll -1.25 - - 1835.62 - 3.79 0.118 3471.81 357.6 -77.86 - - 2817.31 - - - - - - - - - 15.80 -
474.78 77.14 -14.07 93 480.48 roll -1.25 - - 1835.31 - 3.51 0.061 2083.38 -395.6 -77.86 - - 2818.03 - - - - - - - - - 15.82 -
659.80 98.76 -10.02 130 661.13 no move -1.25 - - 1835.12 - - - 2082.31 - -77.86 - - 2817.41 - - - - - - - - - - -
844.86 119.59 -11.92 150 846.18 no move -1.25 - - 1835.06 - - - 2082.62 - -77.86 - - 2818.06 - - - - - - - - - - -
1144.92 151.78 -10.93 180 1146.24 no move -1.25 - - 1835.44 - - - 2082.38 - -77.86 - - 2817.66 - - - - - - - - - - -
1444.99 186.72 -11.49 210 1450.70 roll -1.25 - - 1835.62 - 3.79 0.121 3472.31 366.7 -77.86 - - 2817.84 - - - - - - - - - 15.97 -
1510.03 194.96 -12.45 223 1514.68 roll -1.25 - - 1835.75 - 3.45 0.064 2083.19 -402.6 -77.86 - - 2819.00 - - - - - - - - - 15.97 -
1820.10 230.81 -11.38 255 1825.81 roll -1.25 - - 1835.44 - 3.80 0.122 3471.00 365.2 -77.86 - - 2816.53 - - - - - - - - - 15.99 -
1925.13 243.45 -12.46 276 1929.82 roll -1.25 - - 1835.25 - 3.42 0.065 2083.31 -405.8 -77.86 - - 2819.16 - - - - - - - - - 16.00 -
2235.19 273.71 -9.46 308 2236.51 no move -1.25 - - 1835.44 - - - 2083.62 - -77.86 - - 2818.16 - - - - - - - - - - -
2535.22 303.19 -9.89 338 2540.99 roll -1.25 - - 1835.56 - 4.07 0.166 663.88 -348.8 -77.86 - - 2816.41 - - - - - - - - - 16.00 -
2600.31 310.75 -11.56 351 2605.92 roll -1.25 - - 1834.25 - 3.53 0.060 2117.69 411.8 -77.86 - - 2820.28 - - - - - - - - - 16.04 -
2905.28 341.82 -10.07 382 2906.60 no move -1.25 - - 1835.56 - - - 2117.94 - -77.86 - - 2817.69 - - - - - - - - - - -
3205.30 372.82 -10.58 412 3211.09 roll -1.25 - - 1835.88 - 4.17 0.163 664.00 -348.7 -77.86 - - 2816.62 - - - - - - - - - 16.03 -
3260.39 379.71 -13.53 423 3266.00 roll -1.25 - - 1835.75 - 3.56 0.059 2117.06 408.2 -77.86 - - 2817.66 - - - - - - - - - 16.06 -
3565.35 410.83 -9.42 454 3571.14 roll -1.25 - - 1836.12 - 4.16 0.164 663.88 -349.3 -77.86 - - 2816.16 - - - - - - - - - 16.03 -
3620.43 417.79 -11.79 465 3625.99 roll -1.25 - - 1835.69 - 3.57 0.060 2119.06 407.6 -77.86 - - 2819.22 - - - - - - - - - 16.06 -
3925.39 447.80 -10.33 496 3931.18 roll -1.25 - - 1835.19 - 4.20 0.167 664.88 -346.2 -77.86 - - 2817.12 - - - - - - - - - 16.03 -
3970.41 453.10 -12.50 505 3976.09 roll -1.25 - - 1835.56 - 3.58 0.061 2117.88 405.9 -77.86 - - 2815.66 - - - - - - - - - 16.07 -
4275.43 483.02 -9.93 536 4276.76 no move -1.25 - - 1835.25 - - - 2117.88 - -77.86 - - 2815.28 - - - - - - - - - - -
4575.47 513.42 -10.62 566 4581.27 roll -1.25 - - 1835.94 - 4.22 0.169 663.62 -344.6 -77.86 - - 2813.66 - - - - - - - - - 16.04 -
4654.40 522.67 -11.80 582 4661.24 roll -1.25 - - 1834.50 - 3.53 0.064 2117.44 411.8 -77.86 - - 2817.97 - - - - - - - - - 16.07 -
4960.52 553.01 -9.33 613 4961.85 no move -1.25 - - 1835.25 - - - 2117.56 - -77.86 - - 2814.00 - - - - - - - - - - -
5260.55 582.71 -10.04 643 5266.36 roll -1.25 - - 1835.31 - 4.21 0.173 664.12 -345.2 -77.86 - - 2812.78 - - - - - - - - - 16.05 -
5315.63 588.92 -11.44 654 5321.26 roll -1.25 - - 1835.62 - 3.60 0.065 2117.12 403.6 -77.86 - - 2812.81 - - - - - - - - - 16.08 -
5620.60 618.36 -9.34 685 5621.93 no move -1.25 - - 1835.25 - - - 2117.00 - -77.86 - - 2812.53 - - - - - - - - - - -
5920.63 646.94 -9.04 715 5926.41 roll -1.25 - - 1835.69 - 4.20 0.175 664.06 -345.9 -77.86 - - 2811.03 - - - - - - - - - 16.05 -
6005.64 656.13 -10.30 732 6011.35 roll -1.25 - - 1834.38 - 3.62 0.067 2117.56 401.5 -77.86 - - 2814.38 - - - - - - - - - 16.09 -
6310.69 685.08 -10.54 763 6312.01 no move -1.25 - - 1835.06 - - - 2116.81 - -77.86 - - 2811.56 - - - - - - - - - - -
6610.75 712.80 -9.51 793 6616.55 roll -1.25 - - 1834.81 - 4.20 0.176 664.94 -345.7 -77.86 - - 2813.50 - - - - - - - - - 16.05 -
6669.78 718.76 -9.69 805 6676.54 roll -1.25 - - 1836.00 - 3.60 0.069 2115.88 403.0 -77.86 - - 2812.56 - - - - - - - - - 16.09 -
6975.85 744.37 -9.44 836 6977.18 no move -1.25 - - 1835.81 - - - 2115.69 - -77.86 - - 2810.94 - - - - - - - - - - -
7275.92 770.28 -8.27 866 7277.25 no move -1.25 - - 1835.62 - - - 2116.00 - -77.86 - - 2810.06 - - - - - - - - - - -
7575.99 794.99 -8.11 896 7577.32 no move -1.25 - - 1835.50 - - - 2116.69 - -77.86 - - 2810.53 - - - - - - - - - - -
7876.07 818.55 -8.26 926 7877.39 no move -1.25 - - 1835.69 - - - 2116.69 - -77.86 - - 2810.09 - - - - - - - - - - -
8176.14 842.40 -9.43 956 8177.47 no move -1.25 - - 1835.25 - - - 2116.44 - -77.86 - - 2808.97 - - - - - - - - - - -
8476.19 866.76 -9.73 986 8482.00 roll -1.25 - - 1835.81 - 4.24 0.183 663.69 -342.6 -77.86 - - 2810.66 - - - - - - - - - 16.06 -
8581.22 877.02 -11.07 1007 8586.92 roll -1.25 - - 1835.94 - 3.61 0.075 2114.00 401.7 -77.86 - - 2808.94 - - - - - - - - - 16.09 -
8886.26 902.05 -7.58 1038 8887.59 no move -1.25 - - 1835.75 - - - 2114.81 - -77.86 - - 2810.00 - - - - - - - - - - -
9186.29 925.98 -8.23 1068 9187.62 no move -1.25 - - 1835.94 - - - 2114.12 - -77.86 - - 2807.66 - - - - - - - - - - -
9486.32 950.77 -9.68 1098 9487.65 no move -1.25 - - 1835.69 - - - 2114.06 - -77.86 - - 2807.78 - - - - - - - - - - -
9786.35 974.56 -7.01 1128 9792.15 roll -1.25 - - 1835.69 - 4.24 0.185 663.81 -342.0 -77.86 - - 2810.81 - - - - - - - - - 16.05 -
9855.29 980.76 -9.23 1142 9862.14 roll -1.25 - - 1835.50 - 3.67 0.077 2116.19 395.7 -77.86 - - 2808.78 - - - - - - - - - 16.09 -
9972 end dive: TARGET_DEPTH_EXCEEDED
9972 begin apogee
9972.63 990.11 -7.20 1154 10042.91 -0.25 1.71 0.153 2079.38 142.6 0.08 0.309 2185.81 870.2 - 64.96 2.278 2499.91 -4.8 0.348 - - - - - - 16.03 15.59 12.96
10045 end apogee: CONTROL_FINISHED_OK
10045 begin climb
10044.42 991.90 - 1161 10125.10 1.25 2.48 0.099 2448.56 148.9 3.80 0.139 3471.00 338.2 77.86 72.67 2.222 2179.97 -4.4 0.331 - - - - - - 15.62 15.23 12.87
10156.72 983.70 7.75 1178 10163.58 roll 1.25 - - 2448.69 - 3.37 0.067 2187.31 -380.9 77.86 - - 2177.25 - - - - - - - - - 15.39 -
10462.92 954.42 9.66 1209 10464.25 VBD 1.25 - - 2448.00 - - - 2187.69 - 77.86 - - 2167.94 - - - - - - - - - - -
10762.98 926.41 8.43 1239 10764.31 VBD 1.25 - - 2447.62 - - - 2187.25 - 77.86 - - 2167.06 - - - - - - - - - - -
11063.04 899.28 9.29 1269 11064.37 VBD 1.25 - - 2447.94 - - - 2187.12 - 77.86 - - 2166.56 - - - - - - - - - - -
11363.10 873.65 7.59 1299 11364.43 VBD 1.25 - - 2447.44 - - - 2187.25 - 77.86 - - 2163.66 - - - - - - - - - - -
11663.16 847.86 8.35 1329 11669.14 done 1.25 - - 2446.62 - 4.14 0.157 738.25 -350.0 77.86 - - 2166.38 - - - - - - - - - 15.93 -
11788.20 835.40 10.30 1354 11793.96 done 1.25 - - 2448.50 - 3.68 0.066 2217.38 401.9 77.86 - - 2161.03 - - - - - - - - - 15.96 -
12093.25 809.04 8.37 1385 12094.58 VBD 1.25 - - 2447.69 - - - 2216.81 - 77.86 - - 2160.88 - - - - - - - - - - -
12393.27 781.15 9.18 1415 12394.60 VBD 1.25 - - 2448.31 - - - 2216.50 - 77.86 - - 2161.16 - - - - - - - - - - -
12693.30 754.72 8.07 1445 12698.89 done 1.25 - - 2447.75 - 3.50 0.138 3471.06 358.4 77.86 - - 2163.72 - - - - - - - - - 16.00 -
12798.41 743.53 9.92 1466 12802.88 done 1.25 - - 2448.31 - 3.24 0.067 2183.38 -397.4 77.86 - - 2162.41 - - - - - - - - - 16.01 -
13108.37 718.48 7.80 1498 13109.71 VBD 1.25 - - 2447.44 - - - 2183.50 - 77.86 - - 2160.44 - - - - - - - - - - -
13408.40 693.68 7.74 1528 13414.03 done 1.25 - - 2448.06 - 3.62 0.135 3471.56 355.8 77.86 - - 2160.41 - - - - - - - - - 16.01 -
13553.44 681.03 9.37 1557 13558.13 done 1.25 - - 2448.12 - 3.23 0.066 2183.62 -398.7 77.86 - - 2161.34 - - - - - - - - - 16.03 -
13863.49 658.82 7.13 1589 13869.30 done 1.28 - - 2448.25 - 4.09 0.154 737.94 -353.5 77.86 - - 2159.50 - - - - - - - - - 16.02 -
13962.33 649.72 10.18 1609 13969.27 done 1.28 - - 2448.62 - 3.65 0.063 2219.81 406.0 77.86 - - 2160.31 - - - - - - - - - 16.04 -
14268.53 624.78 8.41 1640 14269.86 VBD 1.28 - - 2447.81 - - - 2218.88 - 77.86 - - 2159.69 - - - - - - - - - - -
14568.57 602.21 6.93 1670 14569.90 VBD 1.31 - - 2448.31 - - - 2219.56 - 77.86 - - 2159.06 - - - - - - - - - - -
14868.60 579.63 7.19 1700 14874.19 done 1.34 - - 2448.31 - 3.48 0.137 3473.12 360.2 77.86 - - 2161.34 - - - - - - - - - 16.04 -
14937.46 573.46 8.82 1714 14944.31 done 1.34 - - 2448.56 - 3.24 0.065 2181.31 -398.7 77.86 - - 2159.88 - - - - - - - - - 16.05 -
15243.64 549.76 7.82 1745 15244.97 VBD 1.34 - - 2446.75 - - - 2181.75 - 77.86 - - 2162.09 - - - - - - - - - - -
15543.67 527.18 7.74 1775 15545.00 VBD 1.34 - - 2448.81 - - - 2181.50 - 77.86 - - 2158.72 - - - - - - - - - - -
15843.74 507.02 6.66 1805 15845.21 1.38 0.16 0.116 2485.00 226.2 - - 2182.19 - 77.86 - - 2159.38 - - - - - - - - 16.05 - -
16143.81 486.98 6.54 1835 16145.14 VBD 1.43 - - 2485.19 - - - 2181.69 - 77.86 - - 2158.88 - - - - - - - - - - -
16443.87 468.63 5.83 1865 16475.16 done 1.52 - - 2484.69 - 3.60 0.133 3471.12 358.2 109.56 25.60 1.638 2051.53 -4.2 0.202 - - - - - - - 15.88 12.97
16553.96 458.79 11.11 1887 16558.43 roll 1.52 - - 2484.06 - 3.27 0.064 2183.19 -393.9 109.56 - - 2051.78 - - - - - - - - - 15.93 -
16863.95 429.71 9.99 1919 16865.28 no move 1.52 - - 2485.12 - - - 2183.69 - 109.56 - - 2047.38 - - - - - - - - - - -
17164.01 402.79 8.99 1949 17165.34 no move 1.52 - - 2485.25 - - - 2183.81 - 109.56 - - 2045.09 - - - - - - - - - - -
17464.08 374.64 9.25 1979 17465.40 no move 1.52 - - 2484.44 - - - 2183.88 - 109.56 - - 2044.72 - - - - - - - - - - -
17764.13 348.55 8.98 2009 17765.46 no move 1.52 - - 2484.62 - - - 2183.62 - 109.56 - - 2046.19 - - - - - - - - - - -
18064.18 322.79 7.78 2039 18065.51 no move 1.52 - - 2485.06 - - - 2183.88 - 109.56 - - 2044.34 - - - - - - - - - - -
18364.24 300.23 6.97 2069 18370.24 roll back 1.55 0.19 0.102 2524.69 208.6 4.05 0.146 737.25 -357.2 109.56 - - 2044.12 - - - - - - - - 16.02 16.01 -
18429.24 294.05 9.72 2082 18434.87 done 1.55 - - 2524.94 - 3.65 0.062 2219.56 406.1 109.56 - - 2042.97 - - - - - - - - - 16.04 -
18734.33 271.03 7.02 2113 18735.66 VBD 1.58 - - 2524.50 - - - 2220.38 - 109.56 - - 2045.31 - - - - - - - - - - -
19034.32 248.38 7.12 2143 19039.90 done 1.61 - - 2525.00 - 3.44 0.128 3472.62 364.0 109.56 - - 2043.28 - - - - - - - - - 16.04 -
19163.18 236.61 9.58 2169 19170.05 done 1.61 - - 2525.19 - 3.23 0.060 2181.62 -399.7 109.56 - - 2044.22 - - - - - - - - - 16.02 -
19469.39 212.52 7.23 2200 19470.72 VBD 1.64 - - 2525.56 - - - 2182.25 - 109.56 - - 2043.53 - - - - - - - - - - -
19769.42 191.49 6.56 2230 19770.76 VBD 1.68 - - 2525.31 - - - 2181.94 - 109.56 - - 2043.22 - - - - - - - - - - -
20069.46 171.29 6.57 2260 20070.93 1.73 0.19 0.101 2566.44 216.5 - - 2182.31 - 109.56 - - 2043.88 - - - - - - - - 16.03 - -
20369.52 150.42 6.76 2290 20375.38 done 1.76 - - 2566.88 - 4.07 0.138 736.38 -355.3 109.56 - - 2042.56 - - - - - - - - - 16.03 -
20564.54 133.51 8.29 2329 20570.15 done 1.76 - - 2565.25 - 3.61 0.058 2222.88 411.8 109.56 - - 2046.16 - - - - - - - - - 16.04 -
20869.58 113.06 5.63 2360 20904.92 1.87 0.16 0.108 2602.31 231.6 4.19 0.132 737.62 -354.5 144.12 29.43 1.228 1910.41 -4.6 0.072 - - - - - - 16.03 15.88 12.97
21129.62 88.20 9.62 2412 21135.39 roll 1.87 - - 2602.31 - 3.72 0.057 2220.25 398.6 144.12 - - 1906.25 - - - - - - - - - 15.94 -
21314.68 79.11 3.68 2449 21371.57 2.05 0.22 0.093 2646.38 200.3 3.53 0.121 3471.31 354.4 206.46 50.85 1.197 1656.69 -4.9 0.055 - - - - - - 15.94 15.72 12.95
21414.88 72.24 9.27 2469 21420.37 roll 2.05 - - 2646.50 - 3.29 0.054 2179.25 -392.7 206.46 - - 1653.53 - - - - - - - - - 15.78 -
21599.74 52.48 10.47 2506 21606.73 done 2.05 - - 2646.19 - 4.02 0.134 736.38 -358.9 206.46 - - 1650.19 - - - - - - - - - 15.80 -
21639.76 48.37 10.46 2514 21646.68 done 2.05 - - 2646.25 - 3.69 0.051 2222.25 402.7 206.46 - - 1650.06 - - - - - - - - - 15.84 -
21824.84 38.42 3.21 2551 21886.79 2.26 0.26 0.085 2696.06 191.6 3.47 0.118 3471.25 359.9 275.61 56.39 1.137 1375.34 -4.9 0.028 - - - - - - 15.86 15.63 12.80
22109.92 23.10 10.12 2608 22115.75 roll 2.26 - - 2696.12 - 3.27 0.054 2181.19 -394.5 275.61 - - 1369.81 - - - - - - - - - 15.76 -
22295 end climb: SURFACE_DEPTH_REACHED
22295 begin surface coast
22310 end surface coast: CONTROL_FINISHED_OK
22310 begin surface
SM 0.32 - - - - 174.2 - 2.780 769.5 - 16.17 0.073 769.6 47.6 - 0.23 0.111 769.4 3331.0 -0.981 - - 30.36 15.78 15.82 -