NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 115 * Raw log
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• Previous call tries 1 • 38.51 of 575.00 AH used of 24V (93.30% remains)
• Surface angle -65.5 deg, depth 1.39 m • Intended pitch -20.4 deg, speed -8.049 cm/s
• No surface pump (final VBD was 649.0, SM_CC=425)
• GPS1 time: 35 s
• GPS2 time: 2 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
6.46 - - - 74.49 VBD -1.25 - - 176.50 - - - 2082.00 - -77.86 67.48 0.005 2344.25 - - - - - - - - - - 15.64
74.75 3.67 -4.15 13 107.76 -1.25 13.69 0.268 1836.56 121.3 3.66 0.127 3474.94 380.6 -77.86 11.38 0.007 2815.31 41.4 -3.597 - - - - - - 15.58 15.63 15.67
330.58 61.33 -17.09 64 336.29 roll -1.25 - - 1837.00 - 3.42 0.065 2082.69 -407.1 -77.86 - - 2817.03 - - - - - - - - - 15.79 -
515.57 86.50 -11.41 101 521.33 roll -1.25 - - 1836.38 - 3.60 0.120 3475.19 386.8 -77.86 - - 2818.19 - - - - - - - - - 15.83 -
595.60 95.49 -11.48 117 601.33 roll -1.25 - - 1836.81 - 3.40 0.063 2082.50 -409.6 -77.86 - - 2817.88 - - - - - - - - - 15.85 -
780.61 116.72 -11.84 140 786.35 roll -1.25 - - 1836.44 - 3.84 0.166 663.25 -369.6 -77.86 - - 2818.22 - - - - - - - - - 15.86 -
825.63 122.44 -13.25 149 830.19 roll -1.25 - - 1835.12 - 3.46 0.060 2118.56 420.6 -77.86 - - 2821.41 - - - - - - - - - 15.89 -
1135.65 154.86 -9.82 181 1136.97 no move -1.25 - - 1836.50 - - - 2120.94 - -77.86 - - 2819.50 - - - - - - - - - - -
1435.67 182.03 -9.56 211 1436.99 no move -1.25 - - 1836.56 - - - 2121.00 - -77.86 - - 2819.53 - - - - - - - - - - -
1735.71 211.19 -9.80 241 1737.04 no move -1.25 - - 1835.94 - - - 2121.25 - -77.86 - - 2820.03 - - - - - - - - - - -
2035.76 239.59 -9.17 271 2040.42 roll -1.25 - - 1836.06 - 3.40 0.130 3475.12 398.2 -77.86 - - 2819.75 - - - - - - - - - 15.99 -
2095.82 246.48 -12.40 283 2100.42 roll -1.25 - - 1836.81 - 3.37 0.068 2080.62 -413.8 -77.86 - - 2819.34 - - - - - - - - - 16.01 -
2405.83 279.45 -11.67 315 2407.16 no move -1.25 - - 1836.00 - - - 2080.88 - -77.86 - - 2819.38 - - - - - - - - - - -
2705.88 312.33 -11.04 345 2707.21 no move -1.25 - - 1835.94 - - - 2080.94 - -77.86 - - 2819.28 - - - - - - - - - - -
3005.93 342.02 -9.48 375 3007.26 no move -1.25 - - 1836.56 - - - 2081.31 - -77.86 - - 2819.25 - - - - - - - - - - -
3305.99 372.41 -9.82 405 3307.31 no move -1.25 - - 1836.44 - - - 2080.81 - -77.86 - - 2818.06 - - - - - - - - - - -
3606.04 404.04 -10.65 435 3607.36 no move -1.25 - - 1836.56 - - - 2081.12 - -77.86 - - 2818.00 - - - - - - - - - - -
3906.08 436.63 -10.87 465 3907.41 no move -1.25 - - 1835.81 - - - 2081.12 - -77.86 - - 2816.88 - - - - - - - - - - -
4206.13 468.74 -10.38 495 4207.46 no move -1.25 - - 1836.38 - - - 2081.00 - -77.86 - - 2816.88 - - - - - - - - - - -
4506.18 499.73 -9.15 525 4507.51 no move -1.25 - - 1836.56 - - - 2081.12 - -77.86 - - 2816.16 - - - - - - - - - - -
4806.21 527.91 -8.80 555 4807.53 no move -1.25 - - 1835.88 - - - 2081.12 - -77.86 - - 2815.34 - - - - - - - - - - -
5106.23 554.86 -9.16 585 5107.56 no move -1.25 - - 1836.19 - - - 2081.19 - -77.86 - - 2813.12 - - - - - - - - - - -
5406.26 581.48 -8.70 615 5411.99 roll -1.25 - - 1836.19 - 3.89 0.185 663.31 -364.5 -77.86 - - 2812.47 - - - - - - - - - 16.06 -
5501.27 591.47 -11.05 634 5506.09 roll -1.25 - - 1836.62 - 3.51 0.076 2116.56 414.0 -77.86 - - 2814.50 - - - - - - - - - 16.10 -
5811.31 619.19 -9.17 666 5812.64 no move -1.25 - - 1836.56 - - - 2116.12 - -77.86 - - 2812.75 - - - - - - - - - - -
6111.33 642.67 -7.62 696 6112.66 no move -1.25 - - 1836.19 - - - 2116.12 - -77.86 - - 2812.66 - - - - - - - - - - -
6411.35 665.35 -8.04 726 6412.68 no move -1.25 - - 1836.19 - - - 2115.94 - -77.86 - - 2813.16 - - - - - - - - - - -
6711.37 688.12 -7.94 756 6712.70 no move -1.25 - - 1836.19 - - - 2116.25 - -77.86 - - 2811.78 - - - - - - - - - - -
7011.40 712.54 -8.06 786 7017.15 roll -1.25 - - 1836.38 - 3.99 0.185 663.06 -364.2 -77.86 - - 2810.56 - - - - - - - - - 16.08 -
7096.41 721.43 -10.74 803 7101.09 roll -1.25 - - 1836.50 - 3.52 0.079 2116.50 412.9 -77.86 - - 2809.94 - - - - - - - - - 16.12 -
7406.45 747.77 -9.56 835 7407.78 no move -1.25 - - 1836.00 - - - 2116.25 - -77.86 - - 2811.53 - - - - - - - - - - -
7706.46 772.57 -8.37 865 7712.23 roll -1.25 - - 1835.81 - 4.01 0.188 663.31 -362.3 -77.86 - - 2809.50 - - - - - - - - - 16.08 -
7841.50 785.72 -10.04 892 7846.18 roll -1.25 - - 1836.56 - 3.52 0.080 2114.62 412.3 -77.86 - - 2810.50 - - - - - - - - - 16.11 -
8151.52 811.25 -8.74 924 8152.84 no move -1.25 - - 1836.31 - - - 2115.88 - -77.86 - - 2810.84 - - - - - - - - - - -
8451.54 834.98 -7.72 954 8452.87 no move -1.25 - - 1836.56 - - - 2116.12 - -77.86 - - 2809.16 - - - - - - - - - - -
8751.57 857.56 -6.90 984 8756.24 roll -1.25 - - 1836.50 - 3.52 0.146 3475.25 386.1 -77.86 - - 2807.19 - - - - - - - - - 16.10 -
8811.59 862.96 -8.93 996 8816.23 roll -1.25 - - 1836.19 - 3.38 0.082 2086.75 -410.8 -77.86 - - 2809.66 - - - - - - - - - 16.11 -
9121.62 886.05 -7.00 1028 9122.94 no move -1.25 - - 1836.31 - - - 2087.00 - -77.86 - - 2807.31 - - - - - - - - - - -
9421.64 909.77 -7.44 1058 9427.39 roll -1.25 - - 1835.44 - 3.92 0.195 663.31 -363.2 -77.86 - - 2809.09 - - - - - - - - - 16.08 -
9490.65 916.08 -8.75 1072 9497.42 roll -1.25 - - 1836.12 - 3.53 0.084 2113.38 410.8 -77.86 - - 2808.50 - - - - - - - - - 16.11 -
9796.69 938.92 -8.32 1103 9798.02 no move -1.25 - - 1836.06 - - - 2113.06 - -77.86 - - 2807.38 - - - - - - - - - - -
10096.73 959.02 -7.31 1133 10102.44 roll -1.25 - - 1836.56 - 3.57 0.147 3474.62 381.4 -77.86 - - 2807.91 - - - - - - - - - 16.09 -
10141.76 963.07 -9.01 1142 10146.51 roll -1.25 - - 1835.88 - 3.38 0.084 2086.62 -410.7 -77.86 - - 2808.38 - - - - - - - - - 16.11 -
10451.80 984.29 -6.95 1174 10453.13 no move -1.25 - - 1836.56 - - - 2087.06 - -77.86 - - 2808.00 - - - - - - - - - - -
10542 end dive: TARGET_DEPTH_EXCEEDED
10542 begin apogee
10543.05 990.71 -5.57 1183 10612.98 -0.25 1.75 0.162 2081.06 139.7 0.07 0.336 2185.56 1407.1 - 64.69 2.281 2498.31 -4.8 0.345 - - - - - - 16.07 15.60 13.14
10614 end apogee: CONTROL_FINISHED_OK
10615 begin climb
10614.24 992.49 - 1190 10694.66 1.25 2.53 0.104 2445.69 144.1 3.60 0.145 3472.94 357.6 77.86 72.05 2.240 2180.44 -4.4 0.324 - - - - - - 15.63 15.21 12.85
10722.41 984.92 9.49 1205 10726.94 roll 1.25 - - 2447.38 - 3.24 0.071 2182.62 -398.2 77.86 - - 2177.66 - - - - - - - - - 15.37 -
11032.43 953.64 10.79 1237 11033.77 VBD 1.25 - - 2446.94 - - - 2182.75 - 77.86 - - 2167.41 - - - - - - - - - - -
11332.67 922.96 9.18 1267 11334.01 VBD 1.25 - - 2447.12 - - - 2182.19 - 77.86 - - 2165.72 - - - - - - - - - - -
11632.49 890.86 9.76 1297 11637.07 done 1.25 - - 2447.81 - 3.44 0.144 3472.69 375.1 77.86 - - 2164.06 - - - - - - - - - 15.86 -
11736.44 878.68 10.74 1318 11743.20 done 1.25 - - 2447.19 - 3.14 0.072 2182.06 -411.0 77.86 - - 2165.78 - - - - - - - - - 15.89 -
12042.54 847.87 10.70 1349 12043.88 VBD 1.25 - - 2447.31 - - - 2182.00 - 77.86 - - 2162.88 - - - - - - - - - - -
12342.57 820.03 9.52 1379 12343.91 VBD 1.25 - - 2447.19 - - - 2182.62 - 77.86 - - 2161.84 - - - - - - - - - - -
12642.61 793.02 9.36 1409 12643.94 VBD 1.25 - - 2447.19 - - - 2182.38 - 77.86 - - 2161.47 - - - - - - - - - - -
12942.64 767.04 9.79 1439 12947.22 done 1.25 - - 2446.94 - 3.38 0.144 3473.88 382.1 77.86 - - 2162.66 - - - - - - - - - 15.99 -
13052.73 756.91 9.85 1461 13057.19 done 1.25 - - 2447.81 - 3.12 0.073 2180.25 -414.6 77.86 - - 2163.41 - - - - - - - - - 16.01 -
13362.74 730.64 7.25 1493 13364.08 VBD 1.28 - - 2447.25 - - - 2181.06 - 77.86 - - 2160.75 - - - - - - - - - - -
13662.77 707.52 6.60 1523 13668.46 done 1.32 - - 2447.00 - 3.77 0.161 736.44 -383.2 77.86 - - 2161.34 - - - - - - - - - 16.02 -
13741.77 699.81 9.58 1539 13748.56 done 1.32 - - 2447.50 - 3.53 0.068 2216.94 419.4 77.86 - - 2159.88 - - - - - - - - - 16.02 -
14047.85 674.62 7.58 1570 14053.57 done 1.32 - - 2446.75 - 3.88 0.158 736.06 -381.7 77.86 - - 2160.03 - - - - - - - - - 16.02 -
14162.89 663.54 10.47 1593 14168.48 done 1.32 - - 2446.12 - 3.49 0.067 2217.81 424.6 77.86 - - 2159.88 - - - - - - - - - 16.04 -
14467.93 638.62 8.74 1624 14472.48 done 1.32 - - 2447.94 - 3.27 0.140 3474.62 384.3 77.86 - - 2159.50 - - - - - - - - - 16.04 -
14561.90 630.27 9.82 1643 14568.65 done 1.32 - - 2447.50 - 3.06 0.069 2180.06 -423.1 77.86 - - 2159.44 - - - - - - - - - 16.07 -
14868.03 608.12 7.32 1674 14869.36 VBD 1.34 - - 2447.25 - - - 2179.81 - 77.86 - - 2158.91 - - - - - - - - - - -
15168.08 587.01 6.34 1704 15169.55 1.39 0.19 0.112 2486.69 207.6 - - 2180.06 - 77.86 - - 2159.12 - - - - - - - - 16.06 - -
15468.12 562.33 8.19 1734 15469.46 VBD 1.39 - - 2487.19 - - - 2180.12 - 77.86 - - 2158.03 - - - - - - - - - - -
15768.17 537.98 7.85 1764 15773.45 done 1.39 - - 2487.31 - 3.37 0.138 3472.94 383.6 77.86 - - 2159.53 - - - - - - - - - 16.07 -
15998.25 518.85 7.85 1810 16002.76 done 1.39 - - 2488.19 - 3.07 0.068 2178.38 -421.7 77.86 - - 2159.53 - - - - - - - - - 16.08 -
16308.29 499.31 6.10 1842 16309.62 VBD 1.45 - - 2487.44 - - - 2179.62 - 77.86 - - 2157.91 - - - - - - - - - - -
16608.32 480.33 6.50 1872 16609.65 VBD 1.50 - - 2488.19 - - - 2178.88 - 77.86 - - 2157.72 - - - - - - - - - - -
16908.38 461.19 6.73 1902 16909.71 VBD 1.54 - - 2487.69 - - - 2178.69 - 77.86 - - 2159.72 - - - - - - - - - - -
17208.38 441.42 6.62 1932 17209.87 1.58 0.22 0.101 2531.06 197.1 - - 2179.88 - 77.86 - - 2158.56 - - - - - - - - 16.08 - -
17508.42 419.00 6.51 1962 17514.03 done 1.63 - - 2531.38 - 3.65 0.153 735.62 -395.7 77.86 - - 2157.41 - - - - - - - - - 16.08 -
17657.36 406.03 8.40 1992 17664.31 done 1.63 - - 2530.50 - 3.49 0.064 2220.81 425.6 77.86 - - 2158.09 - - - - - - - - - 16.09 -
17963.51 386.64 6.06 2023 17964.84 VBD 1.69 - - 2531.38 - - - 2221.31 - 77.86 - - 2156.59 - - - - - - - - - - -
18263.53 369.80 5.71 2053 18295.98 1.79 0.25 0.094 2581.38 200.0 3.93 0.147 736.50 -377.8 111.23 26.47 1.531 2043.62 -4.3 0.171 - - - - - - 16.09 15.91 13.07
18442.63 349.47 13.44 2089 18449.54 roll 1.79 - - 2580.88 - 3.55 0.066 2220.25 418.0 111.23 - - 2040.19 - - - - - - - - - 15.98 -
18748.85 313.96 10.76 2120 18750.18 no move 1.79 - - 2581.00 - - - 2220.50 - 111.23 - - 2037.75 - - - - - - - - - - -
19048.92 280.58 10.04 2150 19054.56 done 1.79 - - 2580.31 - 3.89 0.142 735.56 -381.7 111.23 - - 2038.91 - - - - - - - - - 15.99 -
19153.96 267.83 12.32 2171 19159.56 done 1.79 - - 2580.38 - 3.51 0.064 2221.31 423.3 111.23 - - 2038.47 - - - - - - - - - 16.03 -
19459.03 239.04 9.15 2202 19460.36 VBD 1.79 - - 2581.06 - - - 2220.62 - 111.23 - - 2036.47 - - - - - - - - - - -
19759.07 211.28 8.62 2232 19760.40 VBD 1.79 - - 2581.38 - - - 2221.06 - 111.23 - - 2038.06 - - - - - - - - - - -
20059.13 186.19 8.35 2262 20063.67 done 1.79 - - 2581.62 - 3.23 0.131 3474.38 388.0 111.23 - - 2037.88 - - - - - - - - - 16.03 -
20289.21 165.34 9.47 2308 20293.72 done 1.79 - - 2581.00 - 3.10 0.066 2178.44 -418.0 111.23 - - 2038.88 - - - - - - - - - 16.06 -
20599.27 141.40 6.63 2340 20604.96 done 1.83 - - 2581.75 - 3.71 0.143 735.56 -388.9 111.23 - - 2035.59 - - - - - - - - - 16.03 -
20828.24 121.66 8.37 2386 20835.06 done 1.83 - - 2581.38 - 3.51 0.062 2224.88 424.3 111.23 - - 2037.78 - - - - - - - - - 16.04 -
21134.36 108.08 2.98 2417 21198.48 2.05 0.34 0.086 2644.06 184.4 3.26 0.129 3473.50 383.0 183.55 58.46 1.256 1748.19 -5.0 0.071 - - - - - - 16.04 15.75 13.22
21200.09 104.76 4.94 2425 21241.48 done 2.18 - - 2643.44 - 3.12 0.059 2177.50 -415.4 227.96 36.54 1.194 1571.16 -4.8 0.070 - - - - - - - 15.82 13.01
21541.29 62.16 10.11 2493 21542.62 VBD 2.18 - - 2644.31 - - - 2178.50 - 227.96 - - 1560.91 - - - - - - - - - - -
21721.32 44.54 10.34 2529 21727.12 done 2.18 - - 2644.44 - 3.82 0.143 735.81 -377.7 227.96 - - 1560.16 - - - - - - - - - 15.83 -
21951.44 34.89 -7.12 2575 22125.72 2.83 1.16 0.066 2832.88 162.4 3.56 0.063 2222.19 417.5 444.59 167.49 1.125 687.81 -5.2 0.027 - - - - - - 15.87 15.88 13.06
22244 end climb: SURFACE_DEPTH_REACHED
22244 begin surface coast
22249 end surface coast: CONTROL_FINISHED_OK
22249 begin surface
SM 0.45 - - - - 179.2 - - 682.4 - 17.39 0.082 715.8 41.1 - 0.33 0.098 649.0 1955.9 -0.918 - - 30.00 15.52 15.56 -