NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 27 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 11.89 of 350.00 AH used of 24V (96.60% remains)
• Surface angle -64.0 deg, depth 1.00 m • Intended pitch -17.4 deg, speed -8.049 cm/s
• No surface pump (final VBD was 668.5, SM_CC=475)
• GPS1 time: 67 s
• GPS2 time: 2 s • Transponder ping count: 0
• 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
6.18 - - - 64.16 VBD -0.94 - - 177.50 - - - 2048.19 - -107.06 57.42 0.005 2145.44 - - - - - - - - - - 15.67
64.39 3.11 -4.09 11 111.89 -0.94 14.34 0.274 1950.88 123.7 3.55 0.130 3474.50 401.8 -107.06 24.59 0.006 3185.88 42.3 -3.650 - - - - - - 15.62 15.67 15.70
324.69 50.73 -12.37 63 330.36 roll -0.94 - - 1951.19 - 3.39 0.070 2047.56 -420.9 -107.06 - - 3187.00 - - - - - - - - - 15.80 -
509.75 69.55 -9.37 100 511.08 no move -0.94 - - 1951.00 - - - 2047.31 - -107.06 - - 3186.38 - - - - - - - - - - -
689.82 87.05 -9.06 136 691.14 no move -0.94 - - 1950.94 - - - 2047.06 - -107.06 - - 3186.66 - - - - - - - - - - -
869.89 103.57 -9.06 168 874.59 roll -0.94 - - 1949.44 - 3.50 0.128 3474.56 407.9 -107.06 - - 3188.31 - - - - - - - - - 15.91 -
993.86 115.37 -9.08 193 1000.63 roll -0.94 - - 1950.81 - 3.36 0.075 2049.50 -424.1 -107.06 - - 3186.22 - - - - - - - - - 15.93 -
1300.00 141.22 -8.34 224 1305.70 roll -0.94 - - 1949.00 - 3.71 0.203 663.69 -373.5 -107.06 - - 3188.03 - - - - - - - - - 15.93 -
1358.97 146.87 -9.75 236 1365.71 roll -0.94 - - 1951.00 - 3.32 0.081 2083.81 427.7 -107.06 - - 3187.66 - - - - - - - - - 15.97 -
1665.08 171.82 -7.53 267 1669.71 roll -0.94 - - 1950.94 - 3.41 0.139 3475.38 408.1 -107.06 - - 3187.59 - - - - - - - - - 15.98 -
1705.12 175.36 -8.83 275 1709.72 roll -0.94 - - 1950.94 - 3.39 0.077 2051.38 -420.1 -107.06 - - 3187.41 - - - - - - - - - 16.01 -
2015.14 198.73 -7.63 307 2016.47 no move -0.94 - - 1950.81 - - - 2051.00 - -107.06 - - 3186.31 - - - - - - - - - - -
2315.17 221.87 -8.02 337 2319.81 roll -0.94 - - 1950.44 - 3.50 0.141 3473.88 406.5 -107.06 - - 3186.69 - - - - - - - - - 16.03 -
2365.19 226.17 -8.81 347 2369.81 roll -0.94 - - 1950.38 - 3.38 0.081 2050.31 -421.2 -107.06 - - 3185.56 - - - - - - - - - 16.04 -
2675.22 249.22 -7.01 379 2676.55 no move -0.94 - - 1950.81 - - - 2050.19 - -107.06 - - 3185.25 - - - - - - - - - - -
2975.25 271.19 -7.14 409 2979.92 roll -0.94 - - 1950.56 - 3.52 0.144 3475.19 404.8 -107.06 - - 3184.12 - - - - - - - - - 16.06 -
3005.26 273.86 -7.90 415 3009.89 roll -0.94 - - 1950.94 - 3.38 0.083 2051.44 -421.2 -107.06 - - 3184.03 - - - - - - - - - 16.07 -
3315.30 295.96 -7.47 447 3316.63 no move -0.94 - - 1950.69 - - - 2052.06 - -107.06 - - 3183.06 - - - - - - - - - - -
3615.33 319.49 -8.07 477 3616.66 no move -0.94 - - 1950.75 - - - 2051.75 - -107.06 - - 3182.72 - - - - - - - - - - -
3915.38 342.15 -7.56 507 3920.03 roll -0.94 - - 1949.50 - 3.51 0.149 3474.62 405.4 -107.06 - - 3182.94 - - - - - - - - - 16.09 -
3959.36 345.99 -8.54 516 3966.07 roll -0.94 - - 1950.62 - 3.41 0.087 2051.69 -417.3 -107.06 - - 3182.38 - - - - - - - - - 16.10 -
4265.40 367.91 -7.16 547 4266.73 no move -0.94 - - 1950.62 - - - 2051.88 - -107.06 - - 3181.47 - - - - - - - - - - -
4565.44 387.36 -6.50 577 4566.77 no move -0.94 - - 1950.94 - - - 2051.75 - -107.06 - - 3180.88 - - - - - - - - - - -
4865.47 406.27 -6.62 607 4870.13 roll -0.94 - - 1950.69 - 3.52 0.152 3475.56 404.5 -107.06 - - 3179.75 - - - - - - - - - 16.10 -
4915.49 410.10 -8.08 617 4920.11 roll -0.94 - - 1950.44 - 3.39 0.089 2053.69 -419.4 -107.06 - - 3180.16 - - - - - - - - - 16.10 -
5225.52 431.90 -7.35 649 5226.85 no move -0.94 - - 1950.56 - - - 2053.38 - -107.06 - - 3180.19 - - - - - - - - - - -
5525.55 455.14 -7.82 679 5530.20 roll -0.94 - - 1951.06 - 3.52 0.154 3474.44 403.7 -107.06 - - 3178.44 - - - - - - - - - 16.11 -
5555.56 457.36 -8.00 685 5560.19 roll -0.94 - - 1950.38 - 3.41 0.091 2052.00 -417.1 -107.06 - - 3179.47 - - - - - - - - - 16.12 -
5865.61 480.81 -6.58 717 5866.93 no move -0.94 - - 1951.06 - - - 2052.25 - -107.06 - - 3178.47 - - - - - - - - - - -
6165.67 501.62 -6.08 747 6170.31 roll -0.94 - - 1950.75 - 3.54 0.156 3475.81 402.1 -107.06 - - 3178.34 - - - - - - - - - 16.12 -
6209.62 504.88 -7.23 756 6216.40 roll -0.94 - - 1951.06 - 3.42 0.091 2054.75 -415.5 -107.06 - - 3177.69 - - - - - - - - - 16.13 -
6515.75 523.10 -6.42 787 6517.08 no move -0.94 - - 1950.88 - - - 2054.75 - -107.06 - - 3175.56 - - - - - - - - - - -
6815.82 540.59 -5.97 817 6820.47 roll -0.94 - - 1950.69 - 3.52 0.157 3475.44 403.6 -107.06 - - 3175.44 - - - - - - - - - 16.12 -
6859.76 543.71 -7.01 826 6866.52 roll -0.94 - - 1949.31 - 3.40 0.094 2051.94 -418.7 -107.06 - - 3176.75 - - - - - - - - - 16.13 -
7165.89 562.67 -7.09 857 7170.53 roll -0.94 - - 1950.81 - 3.52 0.157 3473.94 404.0 -107.06 - - 3176.44 - - - - - - - - - 16.13 -
7195.90 564.19 -6.86 863 7200.53 roll -0.94 - - 1950.62 - 3.43 0.096 2054.56 -413.8 -107.06 - - 3174.59 - - - - - - - - - 16.13 -
7505.96 582.53 -6.48 895 7507.29 no move -0.94 - - 1950.25 - - - 2054.50 - -107.06 - - 3173.59 - - - - - - - - - - -
7806.03 600.10 -5.96 925 7810.66 roll -0.94 - - 1951.06 - 3.52 0.158 3475.62 403.7 -107.06 - - 3171.81 - - - - - - - - - 16.13 -
7849.99 603.37 -5.64 934 7856.74 roll -0.94 - - 1950.50 - 3.43 0.096 2052.25 -415.0 -107.06 - - 3174.41 - - - - - - - - - 16.14 -
8156.10 622.36 -6.24 965 8157.43 no move -0.94 - - 1950.44 - - - 2053.06 - -107.06 - - 3174.06 - - - - - - - - - - -
8456.14 640.73 -6.07 995 8457.47 no move -0.94 - - 1950.75 - - - 2052.62 - -107.06 - - 3173.75 - - - - - - - - - - -
8756.19 657.28 -5.26 1025 8760.83 roll -0.94 - - 1949.75 - 3.54 0.162 3474.50 401.7 -107.06 - - 3173.47 - - - - - - - - - 16.13 -
8800.14 660.21 -5.23 1034 8806.89 roll -0.94 - - 1951.19 - 3.44 0.098 2053.69 -413.0 -107.06 - - 3173.03 - - - - - - - - - 16.14 -
9106.24 676.60 -4.84 1065 9110.87 roll -0.94 - - 1950.69 - 3.54 0.160 3474.62 401.4 -107.06 - - 3172.88 - - - - - - - - - 16.13 -
9146.25 678.76 -5.74 1073 9150.88 roll -0.94 - - 1950.88 - 3.41 0.096 2054.75 -416.4 -107.06 - - 3172.34 - - - - - - - - - 16.14 -
9456.29 694.87 -4.38 1105 9457.62 no move -0.94 - - 1950.94 - - - 2054.44 - -107.06 - - 3171.22 - - - - - - - - - - -
9756.32 711.28 -5.22 1135 9757.65 no move -0.94 - - 1951.06 - - - 2055.00 - -107.06 - - 3170.91 - - - - - - - - - - -
10056.36 727.86 -4.64 1165 10060.99 roll -0.94 - - 1950.62 - 3.53 0.161 3475.94 402.5 -107.06 - - 3170.72 - - - - - - - - - 16.14 -
10100.31 731.31 -5.51 1174 10107.18 roll -0.94 - - 1951.12 - 3.42 0.099 2054.56 -415.6 -107.06 - - 3171.53 - - - - - - - - - 16.14 -
10406.39 748.87 -6.16 1205 10407.72 no move -0.94 - - 1950.25 - - - 2054.88 - -107.06 - - 3170.59 - - - - - - - - - - -
10706.43 765.24 -5.93 1235 10711.06 roll -0.94 - - 1950.25 - 3.55 0.164 3475.88 400.3 -107.06 - - 3170.59 - - - - - - - - - 16.14 -
10750.36 767.87 -6.45 1244 10757.12 roll -0.94 - - 1949.56 - 3.42 0.100 2054.00 -415.8 -107.06 - - 3172.34 - - - - - - - - - 16.14 -
11056.48 784.39 -4.85 1275 11057.81 no move -0.94 - - 1950.62 - - - 2054.75 - -107.06 - - 3169.44 - - - - - - - - - - -
11356.52 799.64 -5.16 1305 11361.16 roll -0.94 - - 1950.62 - 3.55 0.165 3473.56 399.7 -107.06 - - 3170.06 - - - - - - - - - 16.14 -
11406.56 802.39 -5.60 1315 11411.29 roll -0.94 - - 1950.44 - 3.41 0.100 2055.81 -415.8 -107.06 - - 3171.56 - - - - - - - - - 16.14 -
11716.57 817.88 -4.60 1347 11717.90 no move -0.94 - - 1950.56 - - - 2055.88 - -107.06 - - 3169.12 - - - - - - - - - - -
12016.79 835.36 -5.97 1377 12022.25 roll -0.94 - - 1950.50 - 3.55 0.165 3473.69 399.4 -107.06 - - 3169.50 - - - - - - - - - 16.14 -
12071.60 838.78 -6.20 1388 12076.23 roll -0.94 - - 1950.44 - 3.48 0.103 2056.25 -407.3 -107.06 - - 3170.09 - - - - - - - - - 16.14 -
12381.68 856.00 -5.27 1420 12387.45 roll -0.94 - - 1950.31 - 3.55 0.167 3475.12 399.7 -107.06 - - 3169.22 - - - - - - - - - 16.13 -
12416.69 857.67 -5.83 1427 12421.30 roll -0.94 - - 1950.69 - 3.43 0.102 2055.81 -413.8 -107.06 - - 3170.62 - - - - - - - - - 16.14 -
12726.76 874.21 -5.20 1459 12728.09 no move -0.94 - - 1951.12 - - - 2056.00 - -107.06 - - 3169.28 - - - - - - - - - - -
13026.81 889.14 -4.62 1489 13032.47 roll -0.94 - - 1950.81 - 3.55 0.168 3473.62 399.3 -107.06 - - 3170.41 - - - - - - - - - 16.13 -
13061.83 890.94 -5.24 1496 13066.58 roll -0.94 - - 1950.75 - 3.46 0.103 2055.75 -409.8 -107.06 - - 3170.25 - - - - - - - - - 16.14 -
13371.89 905.17 -4.93 1528 13373.22 no move -0.94 - - 1950.75 - - - 2056.00 - -107.06 - - 3167.66 - - - - - - - - - - -
13501 end dive: HALF_MISSION_TIME_EXCEEDED
13501 begin apogee
13503.03 911.10 -3.91 1541 13590.01 -0.23 1.19 0.137 2127.31 148.4 0.06 0.381 2056.44 - - 84.88 2.215 2746.59 -5.0 0.340 - - - - - - 16.11 15.51 13.21
13590 end apogee: CONTROL_FINISHED_OK
13590 begin climb
13591.11 911.31 - 1549 13691.13 0.94 1.88 0.081 2414.75 152.9 - - 2056.19 - 107.06 96.54 2.153 2310.19 -4.5 0.318 - - - - - - 15.55 - 12.87
13984.06 896.68 6.43 1589 13989.66 done 0.97 - - 2415.31 - 3.68 0.155 3476.00 385.8 107.06 - - 2295.56 - - - - - - - - - 15.60 -
14079.09 889.21 7.44 1608 14083.80 done 0.99 - - 2415.69 - 3.54 0.092 2054.69 -401.5 107.06 - - 2297.50 - - - - - - - - - 15.65 -
14389.15 867.91 6.51 1640 14390.48 VBD 1.02 - - 2415.12 - - - 2054.00 - 107.06 - - 2293.00 - - - - - - - - - - -
14689.19 850.14 5.05 1670 14741.26 1.10 0.19 0.115 2452.50 196.7 - - 2054.00 - 166.62 50.39 2.107 2067.75 -4.5 0.300 - - - - - - 15.86 - 13.01
15039.20 816.21 10.56 1705 15040.53 VBD 1.10 - - 2451.81 - - - 2054.12 - 166.62 - - 2058.84 - - - - - - - - - - -
15339.23 785.77 9.71 1735 15344.83 done 1.10 - - 2449.56 - 3.62 0.154 3474.69 392.4 166.62 - - 2057.41 - - - - - - - - - 15.82 -
15428.24 775.02 12.10 1753 15434.97 done 1.10 - - 2452.00 - 3.48 0.091 2053.94 -408.3 166.62 - - 2056.16 - - - - - - - - - 15.84 -
15734.29 743.93 9.34 1784 15735.62 VBD 1.10 - - 2452.50 - - - 2054.19 - 166.62 - - 2052.72 - - - - - - - - - - -
16034.32 713.63 9.27 1814 16039.93 done 1.10 - - 2452.12 - 3.58 0.150 3473.50 396.5 166.62 - - 2053.47 - - - - - - - - - 15.94 -
16139.34 701.83 11.51 1835 16144.05 done 1.10 - - 2451.81 - 3.43 0.087 2049.25 -415.2 166.62 - - 2055.34 - - - - - - - - - 15.96 -
16449.39 670.51 9.97 1867 16454.97 done 1.10 - - 2452.38 - 3.54 0.145 3474.00 402.5 166.62 - - 2053.56 - - - - - - - - - 15.97 -
16524.40 662.17 11.84 1882 16529.10 done 1.10 - - 2452.19 - 3.41 0.083 2049.06 -417.9 166.62 - - 2054.50 - - - - - - - - - 15.99 -
16834.43 632.01 9.54 1914 16835.76 VBD 1.10 - - 2452.88 - - - 2049.00 - 166.62 - - 2051.81 - - - - - - - - - - -
17134.45 605.34 8.33 1944 17140.04 done 1.10 - - 2452.75 - 3.54 0.145 3474.94 402.8 166.62 - - 2050.06 - - - - - - - - - 16.02 -
17289.49 590.21 9.60 1975 17294.19 done 1.10 - - 2452.25 - 3.41 0.085 2047.56 -418.6 166.62 - - 2051.94 - - - - - - - - - 16.03 -
17599.53 564.21 8.05 2007 17600.86 VBD 1.10 - - 2453.12 - - - 2047.62 - 166.62 - - 2050.50 - - - - - - - - - - -
17899.60 539.65 7.29 2037 17905.29 done 1.12 - - 2452.56 - 3.53 0.144 3475.69 404.6 166.62 - - 2050.25 - - - - - - - - - 16.04 -
17998.58 530.75 9.22 2057 18005.29 done 1.12 - - 2453.38 - 3.41 0.083 2048.44 -418.5 166.62 - - 2050.72 - - - - - - - - - 16.06 -
18304.66 509.28 6.68 2088 18305.99 VBD 1.14 - - 2450.00 - - - 2047.81 - 166.62 - - 2051.38 - - - - - - - - - - -
18604.72 488.17 6.44 2118 18606.05 VBD 1.18 - - 2452.75 - - - 2048.50 - 166.62 - - 2049.75 - - - - - - - - - - -
18904.78 466.58 7.22 2148 18910.36 done 1.19 - - 2453.06 - 3.52 0.143 3474.62 405.1 166.62 - - 2049.84 - - - - - - - - - 16.04 -
18999.86 458.42 8.85 2167 19004.51 done 1.19 - - 2452.62 - 3.43 0.082 2047.75 -416.0 166.62 - - 2050.97 - - - - - - - - - 16.08 -
19309.88 433.64 8.38 2199 19311.22 VBD 1.19 - - 2452.75 - - - 2047.94 - 166.62 - - 2049.44 - - - - - - - - - - -
19609.93 409.75 7.62 2229 19611.27 VBD 1.19 - - 2452.75 - - - 2047.88 - 166.62 - - 2050.72 - - - - - - - - - - -
19910.01 387.12 7.28 2259 19914.59 done 1.21 - - 2452.25 - 3.51 0.142 3475.62 406.8 166.62 - - 2049.94 - - - - - - - - - 16.08 -
20050.06 375.67 8.15 2287 20054.88 done 1.21 - - 2452.81 - 3.38 0.082 2048.06 -422.4 166.62 - - 2050.12 - - - - - - - - - 16.09 -
20360.14 353.23 7.10 2319 20365.76 1.23 0.14 0.129 2485.00 229.9 3.48 0.141 3474.38 409.9 166.62 - - 2050.59 - - - - - - - - 16.08 16.08 -
20429.05 347.28 8.86 2333 20435.82 done 1.23 - - 2482.94 - 3.40 0.080 2047.50 -419.7 166.62 - - 2051.62 - - - - - - - - - 16.10 -
20735.17 323.47 7.57 2364 20736.50 VBD 1.23 - - 2484.81 - - - 2047.75 - 166.62 - - 2048.56 - - - - - - - - - - -
21035.22 300.37 6.71 2394 21040.79 done 1.25 - - 2485.00 - 3.54 0.140 3475.31 403.3 166.62 - - 2049.16 - - - - - - - - - 16.07 -
21114.09 293.94 8.16 2410 21120.91 done 1.25 - - 2485.25 - 3.38 0.079 2046.81 -422.6 166.62 - - 2050.31 - - - - - - - - - 16.10 -
21420.27 273.16 6.31 2441 21424.98 done 1.29 - - 2485.25 - 3.57 0.178 663.81 -387.4 166.62 - - 2050.12 - - - - - - - - - 16.07 -
21554.41 262.56 8.26 2468 21560.94 done 1.29 - - 2485.31 - 3.30 0.069 2091.94 432.8 166.62 - - 2049.41 - - - - - - - - - 16.09 -
21860.33 243.48 6.21 2499 21861.66 VBD 1.32 - - 2485.12 - - - 2092.06 - 166.62 - - 2049.72 - - - - - - - - - - -
22160.36 223.68 7.03 2529 22161.69 VBD 1.34 - - 2484.81 - - - 2091.44 - 166.62 - - 2047.75 - - - - - - - - - - -
22460.39 206.21 5.76 2559 22501.85 1.41 0.21 0.109 2527.19 201.8 3.45 0.141 3474.06 400.8 212.03 35.45 1.389 1884.81 -4.6 0.114 - - - - - - 16.09 15.89 13.21
22674.28 184.62 11.45 2602 22681.13 roll 1.41 - - 2525.62 - 3.42 0.079 2047.75 -417.0 212.03 - - 1879.28 - - - - - - - - - 15.97 -
22980.46 155.72 9.19 2633 22986.13 done 1.41 - - 2527.69 - 3.59 0.174 662.62 -385.8 212.03 - - 1875.91 - - - - - - - - - 15.97 -
23075.81 145.37 11.52 2652 23081.02 done 1.41 - - 2525.75 - 3.30 0.068 2090.12 432.6 212.03 - - 1876.69 - - - - - - - - - 16.00 -
23380.51 118.07 8.53 2683 23385.22 done 1.41 - - 2527.56 - 3.40 0.136 3475.38 407.4 212.03 - - 1875.69 - - - - - - - - - 15.99 -
23610.58 102.21 5.99 2729 23648.41 done 1.47 - - 2523.94 - 3.39 0.074 2047.62 -421.2 252.97 32.97 1.257 1718.84 -4.8 0.064 - - - - - - - 16.03 13.17
23945.68 83.78 6.12 2794 23951.38 roll 1.50 - - 2527.69 - 3.53 0.133 3475.19 404.4 252.97 - - 1711.19 - - - - - - - - - 15.91 -
24175.78 71.13 4.16 2840 24242.72 1.61 0.26 0.102 2576.56 188.0 3.42 0.073 2045.44 -418.1 330.35 60.95 1.210 1403.06 -5.1 0.049 - - - - - - 15.93 15.95 13.11
24420.83 50.62 10.75 2889 24426.55 roll 1.61 - - 2577.31 - 3.56 0.132 3474.06 401.3 330.35 - - 1395.97 - - - - - - - - - 15.78 -
24650.99 31.38 5.10 2935 24702.72 done 1.69 - - 2577.88 - 3.44 0.073 2046.75 -414.9 388.92 46.64 1.140 1164.34 -5.0 0.023 - - - - - - - 15.85 13.05
24881.03 24.02 2.41 2981 24972.84 1.85 0.32 0.097 2634.69 177.5 - - 2046.00 - 501.00 88.11 1.112 708.06 -5.2 0.019 - - - - - - 15.75 - 13.02
25135 end climb: SURFACE_DEPTH_REACHED
25136 begin surface coast
25150 end surface coast: CONTROL_FINISHED_OK
25151 begin surface
SM 2.72 - - - - 181.4 - - 702.8 - 15.82 0.081 737.1 46.6 - 0.06 0.174 668.5 11141.7 -17.801 - - 30.00 15.62 15.66 -