NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 134 * Raw log
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• Previous call tries 1 • 44.49 of 575.00 AH used of 24V (92.26% remains)
• Surface angle -66.2 deg, depth 1.18 m • Intended pitch -20.4 deg, speed -8.049 cm/s
• VBD pumped to 424.71 (SM_CC=425)
• GPS1 time: 35 s
• GPS2 time: 2 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
6.50 - - - 74.51 VBD -1.25 - - 176.44 - - - 2123.06 - -77.86 67.40 0.005 2330.81 - - - - - - - - - - 15.65
74.79 3.20 -4.00 13 107.73 -1.25 13.56 0.265 1836.12 122.4 3.47 0.124 3473.06 389.0 -77.86 12.15 0.007 2815.25 39.9 -3.048 - - - - - - 15.64 15.63 15.69
210.48 35.64 -25.38 40 216.25 roll -1.25 - - 1835.69 - 3.43 0.065 2083.56 -405.1 -77.86 - - 2818.03 - - - - - - - - - 15.76 -
395.55 67.27 -15.34 77 401.30 roll -1.25 - - 1835.50 - 3.51 0.118 3474.38 396.2 -77.86 - - 2818.38 - - - - - - - - - 15.82 -
430.56 73.03 -17.40 84 436.30 roll -1.25 - - 1835.69 - 3.40 0.060 2083.38 -409.1 -77.86 - - 2816.97 - - - - - - - - - 15.83 -
615.60 99.87 -13.24 121 621.35 roll -1.25 - - 1834.94 - 3.52 0.119 3473.75 395.0 -77.86 - - 2819.03 - - - - - - - - - 15.87 -
725.61 116.14 -14.70 143 730.19 roll -1.25 - - 1835.50 - 3.37 0.062 2081.06 -413.3 -77.86 - - 2818.88 - - - - - - - - - 15.90 -
1035.66 149.06 -9.18 175 1040.33 roll -1.25 - - 1835.31 - 3.51 0.121 3476.06 397.4 -77.86 - - 2821.41 - - - - - - - - - 15.94 -
1115.71 158.17 -11.66 191 1120.27 roll -1.25 - - 1834.31 - 3.35 0.062 2081.19 -416.4 -77.86 - - 2820.12 - - - - - - - - - 15.96 -
1425.76 191.28 -10.95 223 1427.09 no move -1.25 - - 1835.88 - - - 2081.12 - -77.86 - - 2820.09 - - - - - - - - - - -
1725.87 223.63 -10.27 253 1727.20 no move -1.25 - - 1835.56 - - - 2081.06 - -77.86 - - 2819.75 - - - - - - - - - - -
2025.86 253.60 -10.25 283 2030.53 roll -1.25 - - 1835.12 - 3.51 0.126 3473.12 396.6 -77.86 - - 2819.88 - - - - - - - - - 16.03 -
2125.96 265.80 -11.32 303 2130.54 roll -1.25 - - 1835.38 - 3.38 0.067 2082.38 -411.5 -77.86 - - 2820.59 - - - - - - - - - 16.04 -
2435.95 300.32 -11.19 335 2437.28 no move -1.25 - - 1835.88 - - - 2082.56 - -77.86 - - 2819.66 - - - - - - - - - - -
2736.00 333.59 -10.12 365 2737.33 no move -1.25 - - 1835.94 - - - 2082.88 - -77.86 - - 2818.94 - - - - - - - - - - -
3036.05 365.13 -10.22 395 3037.38 no move -1.25 - - 1836.00 - - - 2082.31 - -77.86 - - 2818.97 - - - - - - - - - - -
3336.11 394.73 -9.78 425 3340.78 roll -1.25 - - 1835.38 - 3.52 0.131 3474.62 395.5 -77.86 - - 2818.22 - - - - - - - - - 16.07 -
3410.07 402.86 -10.76 440 3416.86 roll -1.25 - - 1835.62 - 3.37 0.070 2083.69 -412.7 -77.86 - - 2818.16 - - - - - - - - - 16.08 -
3716.18 433.55 -9.59 471 3717.51 no move -1.25 - - 1835.75 - - - 2083.62 - -77.86 - - 2817.69 - - - - - - - - - - -
4016.21 463.16 -9.53 501 4022.09 roll -1.25 - - 1835.19 - 3.88 0.178 664.25 -365.8 -77.86 - - 2819.09 - - - - - - - - - 16.07 -
4125.09 476.72 -13.14 523 4131.98 roll -1.25 - - 1835.56 - 3.43 0.069 2117.56 423.7 -77.86 - - 2816.97 - - - - - - - - - 16.10 -
4431.29 507.85 -10.38 554 4432.61 no move -1.25 - - 1835.75 - - - 2116.94 - -77.86 - - 2816.12 - - - - - - - - - - -
4731.32 536.09 -9.04 584 4732.65 no move -1.25 - - 1835.62 - - - 2116.75 - -77.86 - - 2814.94 - - - - - - - - - - -
5031.36 562.69 -8.39 614 5032.69 no move -1.25 - - 1835.50 - - - 2116.75 - -77.86 - - 2812.97 - - - - - - - - - - -
5331.40 589.94 -8.77 644 5332.73 no move -1.25 - - 1835.75 - - - 2117.25 - -77.86 - - 2814.81 - - - - - - - - - - -
5631.44 618.49 -9.76 674 5632.77 no move -1.25 - - 1835.56 - - - 2117.25 - -77.86 - - 2812.59 - - - - - - - - - - -
5931.48 646.18 -7.95 704 5932.81 no move -1.25 - - 1835.88 - - - 2117.50 - -77.86 - - 2813.78 - - - - - - - - - - -
6231.52 672.68 -8.03 734 6232.85 no move -1.25 - - 1835.69 - - - 2117.00 - -77.86 - - 2813.09 - - - - - - - - - - -
6531.57 698.32 -9.42 764 6532.90 no move -1.25 - - 1836.19 - - - 2117.31 - -77.86 - - 2810.81 - - - - - - - - - - -
6831.61 722.82 -8.34 794 6832.94 no move -1.25 - - 1835.56 - - - 2116.81 - -77.86 - - 2810.34 - - - - - - - - - - -
7131.65 746.56 -7.85 824 7132.98 no move -1.25 - - 1835.50 - - - 2116.75 - -77.86 - - 2810.41 - - - - - - - - - - -
7431.70 769.78 -7.58 854 7433.03 no move -1.25 - - 1835.31 - - - 2117.12 - -77.86 - - 2809.75 - - - - - - - - - - -
7731.77 793.66 -7.79 884 7733.10 no move -1.25 - - 1835.38 - - - 2116.75 - -77.86 - - 2810.19 - - - - - - - - - - -
8031.80 819.04 -9.08 914 8037.55 roll -1.25 - - 1833.88 - 3.95 0.187 661.81 -368.3 -77.86 - - 2809.09 - - - - - - - - - 16.09 -
8100.82 825.68 -8.82 928 8107.58 roll -1.25 - - 1835.62 - 3.48 0.079 2117.38 418.3 -77.86 - - 2811.62 - - - - - - - - - 16.13 -
8406.88 851.09 -8.62 959 8408.21 no move -1.25 - - 1835.38 - - - 2116.81 - -77.86 - - 2807.47 - - - - - - - - - - -
8706.93 873.79 -7.36 989 8712.68 roll -1.25 - - 1836.25 - 3.97 0.187 662.19 -366.4 -77.86 - - 2808.19 - - - - - - - - - 16.09 -
8782.03 880.58 -8.76 1004 8787.65 roll -1.25 - - 1835.50 - 3.51 0.080 2117.00 414.5 -77.86 - - 2810.44 - - - - - - - - - 16.13 -
9087.02 904.38 -6.97 1035 9088.35 no move -1.25 - - 1835.62 - - - 2116.88 - -77.86 - - 2806.84 - - - - - - - - - - -
9387.07 929.97 -9.12 1065 9388.40 no move -1.25 - - 1835.56 - - - 2117.31 - -77.86 - - 2807.34 - - - - - - - - - - -
9687.11 955.33 -7.11 1095 9688.44 no move -1.25 - - 1835.50 - - - 2116.69 - -77.86 - - 2806.16 - - - - - - - - - - -
9987.16 980.99 -8.07 1125 9988.49 no move -1.25 - - 1835.50 - - - 2116.81 - -77.86 - - 2806.88 - - - - - - - - - - -
10107 end dive: TARGET_DEPTH_EXCEEDED
10107 begin apogee
10108.42 990.32 -6.75 1137 10178.58 -0.25 1.73 0.161 2081.00 141.9 0.07 0.328 2185.69 984.0 - 64.21 2.286 2498.81 -4.8 0.348 - - - - - - 16.08 15.60 13.15
10179 end apogee: CONTROL_FINISHED_OK
10179 begin climb
10179.92 992.67 - 1144 10255.31 1.25 2.49 0.101 2447.44 147.2 - - 2185.56 - 77.86 71.83 2.239 2181.38 -4.4 0.328 - - - - - - 15.65 - 12.90
10548.13 960.23 10.13 1181 10549.46 VBD 1.25 - - 2448.00 - - - 2185.25 - 77.86 - - 2168.28 - - - - - - - - - - -
10848.17 930.17 9.68 1211 10852.74 done 1.25 - - 2447.38 - 3.39 0.142 3472.56 379.7 77.86 - - 2167.91 - - - - - - - - - 15.78 -
10932.05 920.48 13.30 1228 10938.89 done 1.25 - - 2447.56 - 3.12 0.071 2183.31 -413.2 77.86 - - 2167.59 - - - - - - - - - 15.81 -
11238.23 890.07 10.22 1259 11239.56 VBD 1.25 - - 2447.75 - - - 2183.31 - 77.86 - - 2165.09 - - - - - - - - - - -
11538.26 859.59 10.20 1289 11539.60 VBD 1.25 - - 2447.31 - - - 2183.75 - 77.86 - - 2164.16 - - - - - - - - - - -
11838.31 830.89 8.85 1319 11839.64 VBD 1.25 - - 2447.12 - - - 2183.81 - 77.86 - - 2163.66 - - - - - - - - - - -
12138.33 803.70 8.89 1349 12139.67 VBD 1.25 - - 2447.81 - - - 2184.19 - 77.86 - - 2161.19 - - - - - - - - - - -
12438.36 776.79 10.17 1379 12439.70 VBD 1.25 - - 2447.19 - - - 2183.69 - 77.86 - - 2161.50 - - - - - - - - - - -
12738.40 752.93 8.26 1409 12744.12 done 1.25 - - 2447.31 - 3.87 0.159 735.12 -374.3 77.86 - - 2162.56 - - - - - - - - - 16.00 -
12807.32 746.06 10.06 1423 12814.16 done 1.25 - - 2447.31 - 3.51 0.067 2218.12 422.5 77.86 - - 2161.75 - - - - - - - - - 16.02 -
13113.44 721.98 8.14 1454 13114.77 VBD 1.25 - - 2447.88 - - - 2217.81 - 77.86 - - 2159.19 - - - - - - - - - - -
13413.49 699.36 7.03 1484 13418.15 done 1.28 - - 2447.06 - 3.23 0.140 3472.81 388.5 77.86 - - 2161.09 - - - - - - - - - 16.03 -
13507.35 691.35 7.98 1503 13514.18 done 1.28 - - 2447.31 - 3.13 0.067 2181.62 -412.5 77.86 - - 2161.53 - - - - - - - - - 16.05 -
13813.52 668.41 8.22 1534 13814.86 VBD 1.28 - - 2447.56 - - - 2181.56 - 77.86 - - 2159.56 - - - - - - - - - - -
14113.60 646.44 7.07 1564 14114.93 VBD 1.31 - - 2447.50 - - - 2181.94 - 77.86 - - 2159.28 - - - - - - - - - - -
14413.60 625.00 7.01 1594 14414.93 VBD 1.34 - - 2448.12 - - - 2181.50 - 77.86 - - 2160.16 - - - - - - - - - - -
14713.63 605.43 6.40 1624 14718.38 1.39 0.19 0.116 2488.12 210.5 3.35 0.138 3475.12 386.2 77.86 - - 2159.88 - - - - - - - - 16.06 16.07 -
14787.49 599.25 8.81 1639 14794.32 done 1.39 - - 2487.31 - 3.12 0.067 2180.19 -415.0 77.86 - - 2161.97 - - - - - - - - - 16.07 -
15093.69 577.70 7.37 1670 15095.03 VBD 1.41 - - 2488.12 - - - 2181.38 - 77.86 - - 2158.31 - - - - - - - - - - -
15393.75 556.69 7.09 1700 15395.09 VBD 1.44 - - 2488.50 - - - 2181.12 - 77.86 - - 2158.75 - - - - - - - - - - -
15693.83 536.25 6.95 1730 15698.38 done 1.48 - - 2487.69 - 3.31 0.135 3472.31 390.1 77.86 - - 2159.94 - - - - - - - - - 16.07 -
15823.88 525.68 7.43 1756 15828.40 done 1.49 - - 2486.25 - 3.14 0.065 2179.62 -411.7 77.86 - - 2159.84 - - - - - - - - - 16.08 -
16133.95 505.37 6.18 1788 16135.42 1.55 0.17 0.106 2524.75 226.5 - - 2179.94 - 77.86 - - 2159.88 - - - - - - - - 16.08 - -
16434.03 484.16 7.17 1818 16435.36 VBD 1.58 - - 2524.62 - - - 2180.06 - 77.86 - - 2158.38 - - - - - - - - - - -
16734.08 462.54 7.21 1848 16735.41 VBD 1.60 - - 2524.56 - - - 2180.31 - 77.86 - - 2158.34 - - - - - - - - - - -
17034.13 441.17 7.41 1878 17039.83 done 1.62 - - 2524.31 - 3.76 0.149 734.75 -384.5 77.86 - - 2156.94 - - - - - - - - - 16.07 -
17263.08 423.23 7.44 1924 17269.96 done 1.64 - - 2525.50 - 3.52 0.064 2221.81 422.5 77.86 - - 2157.72 - - - - - - - - - 16.07 -
17569.25 404.64 6.02 1955 17600.60 1.73 0.20 0.101 2566.38 204.4 3.88 0.144 735.06 -383.2 106.76 22.92 1.554 2065.25 -4.0 0.176 - - - - - - 16.06 15.92 13.06
17759.28 385.10 12.08 1993 17764.88 roll 1.73 - - 2563.69 - 3.51 0.060 2221.56 423.5 106.76 - - 2059.50 - - - - - - - - - 15.99 -
18064.33 356.01 8.53 2024 18068.88 roll 1.73 - - 2566.19 - 3.24 0.130 3473.94 386.5 106.76 - - 2057.72 - - - - - - - - - 16.00 -
18274.36 334.89 9.91 2066 18278.87 roll 1.73 - - 2566.25 - 3.09 0.064 2181.06 -418.4 106.76 - - 2058.31 - - - - - - - - - 16.02 -
18584.39 307.25 8.92 2098 18588.94 roll 1.73 - - 2566.44 - 3.30 0.126 3475.44 392.2 106.76 - - 2058.91 - - - - - - - - - 16.02 -
18728.26 291.76 11.31 2127 18735.11 roll 1.73 - - 2566.56 - 3.16 0.063 2178.38 -410.5 106.76 - - 2057.38 - - - - - - - - - 16.04 -
19034.46 264.49 9.05 2158 19035.79 no move 1.73 - - 2566.50 - - - 2179.06 - 106.76 - - 2057.56 - - - - - - - - - - -
19334.51 241.74 7.34 2188 19340.14 roll 1.75 - - 2566.00 - 3.81 0.142 736.25 -378.7 106.76 - - 2055.41 - - - - - - - - - 16.02 -
19369.51 239.17 7.73 2195 19375.08 roll 1.75 - - 2566.19 - 3.46 0.056 2224.12 430.0 106.76 - - 2055.41 - - - - - - - - - 16.04 -
19674.56 219.37 6.49 2226 19679.06 done 1.79 - - 2566.31 - 3.18 0.126 3474.31 393.1 106.76 - - 2058.06 - - - - - - - - - 16.05 -
19904.59 200.20 8.35 2272 19909.31 done 1.79 - - 2567.00 - 3.10 0.059 2177.31 -418.4 106.76 - - 2057.66 - - - - - - - - - 16.03 -
20214.63 178.28 7.29 2304 20219.16 done 1.82 - - 2565.88 - 3.28 0.122 3473.31 395.1 106.76 - - 2056.47 - - - - - - - - - 16.06 -
20444.69 161.64 5.80 2350 20477.11 1.91 0.23 0.100 2610.44 193.7 3.12 0.058 2177.75 -415.2 138.80 27.78 1.304 1931.88 -4.5 0.093 - - - - - - 16.04 16.04 13.14
20779.92 133.74 7.65 2387 20784.47 roll 1.91 - - 2610.25 - 3.31 0.121 3472.94 391.3 138.80 - - 1927.78 - - - - - - - - - 15.97 -
21010.05 121.21 4.13 2433 21061.78 2.08 0.22 0.098 2651.19 186.1 3.12 0.057 2176.94 -415.4 194.69 45.96 1.259 1707.44 -4.8 0.077 - - - - - - 15.96 15.99 13.04
21360.10 91.92 10.34 2480 21365.81 done 2.08 - - 2651.69 - 3.33 0.121 3473.25 389.3 194.69 - - 1697.00 - - - - - - - - - 15.86 -
21590.19 72.05 7.77 2526 21595.84 done 2.08 - - 2651.25 - 3.07 0.059 2176.94 -422.3 194.69 - - 1695.75 - - - - - - - - - 15.90 -
21775.24 62.43 4.33 2563 21822.91 2.24 0.19 0.098 2690.75 207.9 3.33 0.121 3476.31 390.2 247.79 42.81 1.163 1489.34 -4.8 0.043 - - - - - - 15.92 15.72 13.13
22030.76 41.57 5.34 2614 22067.20 done 2.36 - - 2691.31 - 3.12 0.056 2175.94 -416.8 286.52 31.70 1.107 1332.88 -4.9 0.031 - - - - - - - 15.83 13.08
22245.85 35.14 4.80 2657 22292.17 2.49 0.34 0.088 2750.25 173.4 3.72 0.141 734.25 -387.6 332.91 37.88 1.091 1143.75 -5.0 0.027 - - - - - - 15.77 15.62 12.93
22480 end climb: SURFACE_DEPTH_REACHED
22480 begin surface coast
22490 end surface coast: CONTROL_FINISHED_OK
22490 begin surface
SM 1.15 - - - - 176.7 0.05 0.276 768.6 14614.4 16.45 0.073 774.9 47.1 - 3.23 0.055 762.3 234.9 -0.502 - - 15.50 15.74 15.77 -