NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 119 * Raw log
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• Previous call tries 2 • 39.77 of 575.00 AH used of 24V (93.08% remains)
• Surface angle -62.8 deg, depth 0.83 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.75 (SM_CC=425)
• GPS1 time: 30 s
• GPS2 time: 4 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
6.39 - - - 69.34 VBD -1.25 - - 175.25 - - - 2120.81 - -77.86 62.29 0.005 2217.78 - - - - - - - - - - 15.68
69.61 3.44 -4.84 12 101.00 -1.25 13.43 0.267 1835.00 123.6 - - 2120.31 - -77.86 14.67 0.006 2816.31 40.8 -3.914 - - - - - - 15.60 - 15.69
278.78 47.61 -17.18 54 284.52 roll -1.25 - - 1835.44 - 3.42 0.126 3473.94 395.8 -77.86 - - 2819.06 - - - - - - - - - 15.77 -
508.88 84.04 -16.34 100 514.59 roll -1.25 - - 1835.75 - 3.33 0.066 2082.81 -417.8 -77.86 - - 2817.38 - - - - - - - - - 15.84 -
693.92 107.41 -10.46 130 698.58 roll -1.25 - - 1835.62 - 3.47 0.123 3476.19 401.6 -77.86 - - 2818.34 - - - - - - - - - 15.87 -
713.93 109.71 -11.27 134 718.58 roll -1.25 - - 1835.88 - 3.35 0.063 2082.44 -416.0 -77.86 - - 2818.94 - - - - - - - - - 15.85 -
1023.98 141.29 -10.19 166 1029.72 roll -1.25 - - 1835.69 - 3.81 0.168 661.25 -373.0 -77.86 - - 2817.34 - - - - - - - - - 15.90 -
1129.02 154.55 -13.44 187 1133.59 roll -1.25 - - 1835.12 - 3.37 0.062 2122.94 433.7 -77.86 - - 2821.53 - - - - - - - - - 15.94 -
1439.08 188.05 -11.07 219 1444.81 roll -1.25 - - 1835.62 - 3.84 0.162 663.31 -380.1 -77.86 - - 2818.41 - - - - - - - - - 15.94 -
1534.11 200.20 -13.15 238 1538.76 roll -1.25 - - 1835.81 - 3.38 0.063 2121.06 431.3 -77.86 - - 2818.78 - - - - - - - - - 15.97 -
1844.14 233.19 -9.92 270 1845.47 no move -1.25 - - 1835.50 - - - 2121.31 - -77.86 - - 2818.75 - - - - - - - - - - -
2144.16 262.79 -10.04 300 2145.49 no move -1.25 - - 1835.00 - - - 2121.75 - -77.86 - - 2818.91 - - - - - - - - - - -
2444.18 293.56 -10.62 330 2445.51 no move -1.25 - - 1835.88 - - - 2121.38 - -77.86 - - 2818.47 - - - - - - - - - - -
2744.21 325.65 -10.74 360 2745.53 no move -1.25 - - 1835.06 - - - 2121.25 - -77.86 - - 2816.88 - - - - - - - - - - -
3044.22 357.46 -10.47 390 3049.96 roll -1.25 - - 1835.69 - 3.88 0.171 661.50 -376.2 -77.86 - - 2816.03 - - - - - - - - - 16.03 -
3129.31 368.29 -12.90 407 3133.82 roll -1.25 - - 1836.06 - 3.41 0.068 2120.69 427.9 -77.86 - - 2816.56 - - - - - - - - - 16.06 -
3439.27 401.34 -10.38 439 3445.00 roll -1.25 - - 1836.06 - 3.89 0.170 662.25 -374.9 -77.86 - - 2818.88 - - - - - - - - - 16.03 -
3488.22 407.54 -12.46 449 3495.02 roll -1.25 - - 1834.75 - 3.40 0.067 2119.69 428.7 -77.86 - - 2819.81 - - - - - - - - - 16.06 -
3794.30 440.80 -10.98 480 3800.03 roll -1.25 - - 1835.94 - 3.86 0.172 663.38 -377.3 -77.86 - - 2817.22 - - - - - - - - - 16.04 -
3833.19 445.60 -12.20 488 3840.18 roll -1.25 - - 1835.81 - 3.41 0.068 2119.31 427.0 -77.86 - - 2817.22 - - - - - - - - - 16.07 -
4139.33 477.58 -9.50 519 4145.08 roll -1.25 - - 1835.50 - 3.93 0.174 662.44 -370.7 -77.86 - - 2815.06 - - - - - - - - - 16.05 -
4214.42 485.90 -10.42 534 4219.00 roll -1.25 - - 1835.50 - 3.40 0.071 2119.25 428.5 -77.86 - - 2816.38 - - - - - - - - - 16.08 -
4524.38 516.68 -9.49 566 4525.70 no move -1.25 - - 1835.38 - - - 2118.94 - -77.86 - - 2815.41 - - - - - - - - - - -
4824.39 545.66 -9.20 596 4830.15 roll -1.25 - - 1835.69 - 3.90 0.178 662.44 -373.5 -77.86 - - 2813.59 - - - - - - - - - 16.06 -
4889.43 553.36 -12.21 609 4894.07 roll -1.25 - - 1835.50 - 3.42 0.074 2117.56 425.5 -77.86 - - 2814.47 - - - - - - - - - 16.09 -
5199.42 582.86 -9.97 641 5200.75 no move -1.25 - - 1835.25 - - - 2118.31 - -77.86 - - 2813.88 - - - - - - - - - - -
5499.44 610.15 -8.28 671 5500.77 no move -1.25 - - 1835.56 - - - 2117.50 - -77.86 - - 2813.34 - - - - - - - - - - -
5799.46 635.49 -9.23 701 5800.79 no move -1.25 - - 1835.12 - - - 2117.69 - -77.86 - - 2812.06 - - - - - - - - - - -
6099.48 661.30 -9.32 731 6100.81 no move -1.25 - - 1835.50 - - - 2117.88 - -77.86 - - 2812.34 - - - - - - - - - - -
6399.51 689.08 -10.95 761 6400.84 no move -1.25 - - 1834.75 - - - 2117.31 - -77.86 - - 2810.28 - - - - - - - - - - -
6699.53 717.87 -9.38 791 6705.27 roll -1.25 - - 1834.88 - 3.96 0.186 662.00 -367.5 -77.86 - - 2811.03 - - - - - - - - - 16.08 -
6804.55 729.61 -11.26 812 6809.21 roll -1.25 - - 1835.50 - 3.44 0.081 2119.00 423.5 -77.86 - - 2811.50 - - - - - - - - - 16.10 -
7114.64 755.50 -6.79 844 7115.97 no move -1.25 - - 1835.38 - - - 2118.81 - -77.86 - - 2808.88 - - - - - - - - - - -
7414.59 781.22 -9.13 874 7415.92 no move -1.25 - - 1835.56 - - - 2118.25 - -77.86 - - 2810.06 - - - - - - - - - - -
7714.64 807.51 -9.05 904 7720.38 roll -1.25 - - 1835.81 - 3.92 0.190 662.62 -371.3 -77.86 - - 2809.88 - - - - - - - - - 16.07 -
7789.73 815.32 -11.55 919 7794.32 roll -1.25 - - 1835.69 - 3.44 0.083 2116.44 422.6 -77.86 - - 2808.75 - - - - - - - - - 16.11 -
8099.72 843.91 -9.02 951 8101.04 no move -1.25 - - 1835.44 - - - 2117.12 - -77.86 - - 2809.31 - - - - - - - - - - -
8399.76 869.99 -8.18 981 8401.09 no move -1.25 - - 1835.25 - - - 2117.00 - -77.86 - - 2807.22 - - - - - - - - - - -
8699.81 894.97 -8.13 1011 8701.14 no move -1.25 - - 1835.75 - - - 2117.50 - -77.86 - - 2808.50 - - - - - - - - - - -
8999.87 917.71 -8.02 1041 9005.61 roll -1.25 - - 1835.00 - 3.97 0.193 662.19 -366.6 -77.86 - - 2806.84 - - - - - - - - - 16.08 -
9034.89 920.89 -8.04 1048 9039.54 roll -1.25 - - 1835.75 - 3.45 0.085 2116.50 421.5 -77.86 - - 2808.69 - - - - - - - - - 16.11 -
9344.93 943.67 -6.81 1080 9346.26 no move -1.25 - - 1835.62 - - - 2116.50 - -77.86 - - 2806.88 - - - - - - - - - - -
9644.97 965.98 -7.85 1110 9646.30 no move -1.25 - - 1835.62 - - - 2116.88 - -77.86 - - 2806.53 - - - - - - - - - - -
9944 end dive: TARGET_DEPTH_EXCEEDED
9944 begin apogee
9946.26 990.30 -7.48 1140 10015.78 -0.25 1.71 0.161 2079.50 142.6 0.07 0.332 2184.94 972.3 - 63.62 2.291 2501.28 -4.8 0.347 - - - - - - 16.07 15.59 13.16
10016 end apogee: CONTROL_FINISHED_OK
10016 begin climb
10017.04 991.82 - 1147 10096.28 1.25 2.47 0.102 2447.25 148.9 3.43 0.146 3473.75 375.7 77.86 71.49 2.245 2182.16 -4.5 0.330 - - - - - - 15.64 15.22 12.91
10209.77 976.82 10.17 1185 10214.16 done 1.25 - - 2447.56 - 3.19 0.072 2184.94 -404.0 77.86 - - 2172.97 - - - - - - - - - 15.51 -
10519.60 945.17 10.94 1217 10520.93 VBD 1.25 - - 2447.81 - - - 2185.44 - 77.86 - - 2167.66 - - - - - - - - - - -
10819.65 913.55 10.86 1247 10820.98 VBD 1.25 - - 2446.94 - - - 2185.69 - 77.86 - - 2168.56 - - - - - - - - - - -
11119.70 882.36 9.57 1277 11121.04 VBD 1.25 - - 2447.88 - - - 2185.31 - 77.86 - - 2163.34 - - - - - - - - - - -
11419.75 852.89 10.57 1307 11421.08 VBD 1.25 - - 2447.56 - - - 2185.06 - 77.86 - - 2163.31 - - - - - - - - - - -
11719.81 825.55 8.19 1337 11721.14 VBD 1.25 - - 2448.06 - - - 2185.56 - 77.86 - - 2162.56 - - - - - - - - - - -
12019.86 801.09 8.95 1367 12021.19 VBD 1.25 - - 2447.81 - - - 2185.50 - 77.86 - - 2161.50 - - - - - - - - - - -
12319.91 776.51 8.15 1397 12321.24 VBD 1.25 - - 2447.94 - - - 2185.88 - 77.86 - - 2160.94 - - - - - - - - - - -
12619.96 750.02 9.11 1427 12621.29 VBD 1.25 - - 2448.19 - - - 2186.12 - 77.86 - - 2161.19 - - - - - - - - - - -
12920.02 723.83 9.04 1457 12921.35 VBD 1.25 - - 2447.88 - - - 2184.88 - 77.86 - - 2160.28 - - - - - - - - - - -
13220.07 696.46 8.63 1487 13221.40 VBD 1.25 - - 2448.25 - - - 2185.75 - 77.86 - - 2159.94 - - - - - - - - - - -
13520.12 669.99 9.03 1517 13521.45 VBD 1.25 - - 2447.56 - - - 2185.75 - 77.86 - - 2159.44 - - - - - - - - - - -
13820.17 643.76 8.26 1547 13824.71 done 1.25 - - 2447.06 - 3.21 0.142 3475.06 401.7 77.86 - - 2163.56 - - - - - - - - - 16.05 -
13930.26 632.93 10.83 1569 13934.71 done 1.25 - - 2448.75 - 3.10 0.072 2179.75 -417.8 77.86 - - 2160.81 - - - - - - - - - 16.06 -
14240.24 607.83 7.78 1601 14241.57 VBD 1.25 - - 2448.06 - - - 2180.00 - 77.86 - - 2160.44 - - - - - - - - - - -
14540.29 587.04 6.97 1631 14544.83 done 1.28 - - 2447.69 - 3.26 0.139 3474.31 397.0 77.86 - - 2160.81 - - - - - - - - - 16.07 -
14610.30 581.66 7.87 1645 14614.82 done 1.28 - - 2447.94 - 3.09 0.068 2179.25 -419.1 77.86 - - 2160.09 - - - - - - - - - 16.08 -
14920.34 561.14 5.99 1677 14945.64 1.37 0.14 0.127 2484.19 258.9 - - 2179.62 - 107.21 23.74 1.734 2063.44 -4.1 0.220 - - - - - - 16.06 - 13.20
15240.38 528.98 10.89 1709 15241.70 no move 1.37 - - 2483.88 - - - 2180.19 - 107.21 - - 2058.06 - - - - - - - - - - -
15540.41 496.93 10.33 1739 15545.09 roll 1.37 - - 2483.81 - 3.24 0.138 3475.81 399.9 107.21 - - 2058.78 - - - - - - - - - 15.99 -
15630.44 487.30 11.88 1757 15634.97 roll 1.37 - - 2483.94 - 3.13 0.069 2179.94 -414.0 107.21 - - 2058.09 - - - - - - - - - 16.00 -
15940.48 459.78 8.03 1789 15946.18 roll 1.37 - - 2484.00 - 3.78 0.154 735.25 -382.2 107.21 - - 2056.34 - - - - - - - - - 15.99 -
16039.41 449.61 9.96 1809 16046.23 done 1.37 - - 2484.00 - 3.43 0.064 2222.56 433.6 107.21 - - 2053.50 - - - - - - - - - 16.03 -
16345.55 422.88 8.73 1840 16350.20 done 1.37 - - 2484.12 - 3.10 0.136 3475.38 404.1 107.21 - - 2054.69 - - - - - - - - - 16.02 -
16575.60 399.84 10.56 1886 16580.11 done 1.37 - - 2482.25 - 3.08 0.068 2180.50 -420.4 107.21 - - 2055.16 - - - - - - - - - 16.04 -
16885.66 374.61 7.44 1918 16886.99 VBD 1.39 - - 2483.69 - - - 2181.00 - 107.21 - - 2052.72 - - - - - - - - - - -
17185.70 352.45 7.78 1948 17187.03 VBD 1.39 - - 2483.75 - - - 2181.25 - 107.21 - - 2052.25 - - - - - - - - - - -
17485.76 330.86 6.83 1978 17487.10 VBD 1.43 - - 2484.31 - - - 2181.06 - 107.21 - - 2052.28 - - - - - - - - - - -
17785.80 308.36 7.91 2008 17790.32 done 1.43 - - 2483.75 - 3.20 0.135 3475.75 404.6 107.21 - - 2055.81 - - - - - - - - - 16.06 -
17949.71 294.15 8.72 2041 17956.54 done 1.43 - - 2482.94 - 3.09 0.064 2179.06 -419.6 107.21 - - 2054.38 - - - - - - - - - 16.05 -
18255.94 271.62 7.25 2072 18257.27 VBD 1.45 - - 2484.50 - - - 2179.50 - 107.21 - - 2053.94 - - - - - - - - - - -
18555.99 250.33 7.07 2102 18560.51 done 1.48 - - 2484.00 - 3.20 0.129 3476.38 405.3 107.21 - - 2054.22 - - - - - - - - - 16.07 -
18606.00 246.52 7.61 2112 18610.50 done 1.48 - - 2484.62 - 3.07 0.062 2177.25 -423.2 107.21 - - 2053.88 - - - - - - - - - 16.08 -
18916.06 226.84 6.28 2144 18917.53 1.53 0.16 0.106 2520.69 225.4 - - 2177.25 - 107.21 - - 2053.16 - - - - - - - - 16.07 - -
19216.11 206.16 7.27 2174 19220.65 done 1.56 - - 2520.44 - 3.19 0.129 3476.06 407.2 107.21 - - 2054.72 - - - - - - - - - 16.07 -
19446.19 186.04 9.14 2220 19450.68 done 1.56 - - 2520.69 - 3.07 0.063 2176.81 -423.2 107.21 - - 2054.66 - - - - - - - - - 16.07 -
19756.23 164.84 6.27 2252 19757.56 VBD 1.61 - - 2521.00 - - - 2177.56 - 107.21 - - 2053.81 - - - - - - - - - - -
20056.27 146.30 6.56 2282 20062.02 done 1.66 - - 2520.31 - 3.68 0.147 734.12 -392.2 107.21 - - 2052.00 - - - - - - - - - 16.06 -
20285.16 128.93 8.19 2328 20292.04 done 1.66 - - 2521.00 - 3.41 0.062 2225.62 437.4 107.21 - - 2054.47 - - - - - - - - - 16.06 -
20591.37 115.09 2.67 2359 20654.75 1.89 0.47 0.080 2604.81 178.3 - - 2225.81 - 183.97 61.78 1.257 1747.72 -5.0 0.076 - - - - - - 16.06 - 13.16
20951.41 78.74 10.06 2412 20952.74 VBD 1.89 - - 2605.19 - - - 2226.31 - 183.97 - - 1740.53 - - - - - - - - - - -
21132.68 61.52 8.52 2448 21138.40 done 1.89 - - 2604.69 - 3.89 0.138 735.25 -383.3 183.97 - - 1738.97 - - - - - - - - - 15.90 -
21351.57 45.12 6.45 2492 21357.23 done 1.93 - - 2604.62 - 3.42 0.060 2226.56 436.1 183.97 - - 1739.25 - - - - - - - - - 15.94 -
21536.56 39.81 2.44 2529 21608.95 2.17 0.40 0.081 2676.25 179.1 3.93 0.136 734.56 -379.6 264.12 64.02 1.141 1422.62 -4.9 0.029 - - - - - - 15.94 15.68 13.14
21616.72 36.33 5.36 2545 21654.10 done 2.29 - - 2676.50 - 3.47 0.056 2224.38 429.3 302.52 32.14 1.076 1266.56 -4.9 0.027 - - - - - - - 15.72 12.93
21831.97 15.67 7.26 2588 21837.58 roll 2.31 - - 2677.12 - 3.13 0.122 3475.94 399.9 302.52 - - 1259.91 - - - - - - - - - 15.72 -
21927.29 10.07 5.24 2607 21968.37 2.43 0.34 0.089 2737.94 178.9 3.07 0.058 2176.44 -423.3 342.61 33.74 1.050 1104.09 -4.6 0.007 - - - - - - 15.74 15.76 13.08
22011 end climb: SURFACE_DEPTH_REACHED
22011 begin surface coast
22026 end surface coast: CONTROL_FINISHED_OK
22026 begin surface
SM 0.68 - - - - 177.7 1.75 0.142 768.4 419.8 16.55 0.079 773.1 46.7 - 0.20 0.103 763.8 3803.6 -2.567 - - 15.47 15.66 15.71 -