NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 16 * Raw log
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• Previous call tries 1 • 7.57 of 350.00 AH used of 24V (97.84% remains)
• Surface angle -67.3 deg, depth 1.22 m • Intended pitch -16.7 deg, speed -8.684 cm/s
• No surface pump (final VBD was 595.9, SM_CC=525)
• GPS1 time: 19 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
6.15 - - - 74.31 VBD -0.82 - - 181.56 - - - 2051.94 - -126.52 67.71 0.005 2151.62 - - - - - - - - - - 15.65
74.55 3.17 -4.00 13 122.92 -0.82 14.02 0.273 1979.62 128.2 3.61 0.139 3474.69 394.1 -126.52 26.34 0.006 3264.47 42.2 -3.800 - - - - - - 15.58 15.64 15.68
270.70 34.76 -10.64 52 276.36 roll -0.89 - - 1979.56 - 3.41 0.076 2048.62 -418.2 -126.52 - - 3267.59 - - - - - - - - - 15.76 -
455.78 51.75 -8.46 89 461.55 roll back -0.98 0.34 0.084 1928.19 -151.1 3.56 0.134 3474.44 400.5 -126.52 - - 3265.78 - - - - - - - - 15.78 15.78 -
510.83 58.73 -13.39 100 516.53 roll back -0.94 0.23 0.181 1954.31 113.6 3.39 0.077 2049.62 -420.3 -126.52 - - 3265.34 - - - - - - - - 15.78 15.82 -
695.87 77.55 -9.64 137 697.20 no move -1.00 - - 1953.62 - - - 2049.00 - -126.52 - - 3266.38 - - - - - - - - - - -
875.93 94.95 -10.91 173 881.71 roll back -1.07 0.29 0.092 1906.31 -163.1 3.54 0.137 3473.19 402.3 -126.52 - - 3266.00 - - - - - - - - 15.86 15.86 -
919.92 100.71 -13.45 182 926.69 roll back -1.03 0.22 0.189 1932.56 119.3 3.37 0.079 2051.38 -421.9 -126.52 - - 3266.97 - - - - - - - - 15.85 15.90 -
1226.02 130.15 -9.30 213 1231.67 roll -1.09 - - 1932.94 - 3.63 0.193 663.50 -382.3 -126.52 - - 3265.59 - - - - - - - - - 15.91 -
1281.04 135.41 -9.73 224 1285.63 roll -1.09 - - 1932.94 - 3.32 0.074 2084.69 428.1 -126.52 - - 3265.88 - - - - - - - - - 15.95 -
1591.09 162.32 -8.92 256 1592.54 pitch -1.16 0.29 0.090 1883.38 -170.9 - - 2084.88 - -126.52 - - 3264.91 - - - - - - - - 15.97 - -
1891.13 197.65 -11.52 286 1896.83 roll -1.16 - - 1882.38 - 3.71 0.192 664.88 -382.7 -126.52 - - 3264.72 - - - - - - - - - 15.96 -
1926.16 202.15 -12.40 293 1930.83 roll back -1.11 0.23 0.180 1912.88 132.6 3.33 0.079 2083.81 426.1 -126.52 - - 3266.84 - - - - - - - - 15.96 16.00 -
2236.20 232.93 -10.01 325 2240.81 roll -1.16 - - 1912.25 - 3.45 0.144 3473.19 402.7 -126.52 - - 3265.81 - - - - - - - - - 16.00 -
2270.14 236.88 -11.29 332 2276.95 roll back -1.21 0.24 0.097 1873.31 -162.3 3.36 0.080 2049.69 -423.7 -126.52 - - 3265.91 - - - - - - - - 16.01 16.02 -
2576.22 272.66 -11.66 363 2581.90 roll -1.21 - - 1872.62 - 3.62 0.200 662.44 -383.2 -126.52 - - 3264.03 - - - - - - - - - 16.00 -
2625.19 279.35 -14.44 373 2632.00 roll back -1.13 0.28 0.179 1908.75 129.0 3.33 0.084 2083.31 426.7 -126.52 - - 3265.06 - - - - - - - - 15.99 16.04 -
2931.28 310.43 -9.72 404 2932.61 no move -1.19 - - 1907.94 - - - 2084.00 - -126.52 - - 3264.03 - - - - - - - - - - -
3231.31 340.47 -9.91 434 3232.76 pitch -1.25 0.26 0.096 1863.50 -170.9 - - 2084.06 - -126.52 - - 3263.34 - - - - - - - - 16.05 - -
3531.33 376.05 -12.42 464 3532.66 no move -1.25 - - 1863.38 - - - 2083.62 - -126.52 - - 3263.97 - - - - - - - - - - -
3831.38 409.26 -10.49 494 3832.70 no move -1.25 - - 1863.50 - - - 2083.81 - -126.52 - - 3263.50 - - - - - - - - - - -
4131.40 441.38 -10.99 524 4137.09 roll -1.25 - - 1863.38 - 3.72 0.205 663.94 -381.7 -126.52 - - 3260.66 - - - - - - - - - 16.05 -
4190.37 449.30 -13.61 536 4197.17 roll back -1.17 0.27 0.184 1897.50 126.4 3.34 0.094 2082.19 424.6 -126.52 - - 3262.09 - - - - - - - - 16.04 16.10 -
4496.46 478.71 -9.73 567 4497.79 no move -1.24 - - 1897.25 - - - 2081.38 - -126.52 - - 3261.59 - - - - - - - - - - -
4796.50 506.67 -8.35 597 4802.19 roll back -1.30 0.28 0.097 1849.88 -169.2 3.47 0.156 3473.06 401.1 -126.52 - - 3259.31 - - - - - - - - 16.09 16.08 -
4831.48 510.62 -11.29 604 4836.11 roll -1.30 - - 1849.19 - 3.38 0.091 2052.81 -420.2 -126.52 - - 3260.34 - - - - - - - - - 16.10 -
5141.51 544.72 -11.15 636 5147.19 roll -1.30 - - 1847.62 - 3.66 0.216 664.56 -379.3 -126.52 - - 3260.12 - - - - - - - - - 16.06 -
5176.54 549.53 -13.85 643 5182.23 roll back -1.22 0.28 0.187 1885.56 135.5 3.35 0.098 2082.00 423.1 -126.52 - - 3259.12 - - - - - - - - 16.06 16.11 -
5481.58 577.60 -9.17 674 5486.19 roll -1.27 - - 1885.88 - 3.46 0.158 3474.25 402.4 -126.52 - - 3260.50 - - - - - - - - - 16.10 -
5521.58 581.85 -10.34 682 5527.26 roll back -1.33 0.24 0.105 1845.12 -169.8 3.37 0.091 2051.56 -422.2 -126.52 - - 3258.50 - - - - - - - - 16.09 16.11 -
5826.59 614.85 -10.66 713 5827.92 no move -1.33 - - 1845.06 - - - 2051.62 - -126.52 - - 3258.41 - - - - - - - - - - -
6126.65 644.84 -9.98 743 6131.30 roll -1.33 - - 1845.62 - 3.56 0.161 3473.69 399.5 -126.52 - - 3260.34 - - - - - - - - - 16.11 -
6166.68 649.92 -13.59 751 6171.28 roll -1.29 - - 1845.12 - 3.38 0.098 2054.25 -420.0 -126.52 - - 3260.06 - - - - - - - - - 16.12 -
6476.73 685.17 -11.34 783 6478.06 no move -1.29 - - 1845.00 - - - 2054.12 - -126.52 - - 3257.66 - - - - - - - - - - -
6776.79 720.17 -11.39 813 6781.44 roll -1.29 - - 1842.75 - 3.55 0.165 3472.38 399.5 -126.52 - - 3257.78 - - - - - - - - - 16.12 -
6826.82 726.91 -12.68 823 6831.43 roll -1.29 - - 1845.31 - 3.38 0.100 2052.38 -420.1 -126.52 - - 3258.59 - - - - - - - - - 16.13 -
7136.87 762.93 -12.11 855 7138.20 no move -1.29 - - 1844.81 - - - 2052.75 - -126.52 - - 3257.00 - - - - - - - - - - -
7436.93 796.52 -11.99 885 7438.26 no move -1.29 - - 1844.81 - - - 2052.50 - -126.52 - - 3256.12 - - - - - - - - - - -
7736.99 828.99 -10.85 915 7738.32 no move -1.29 - - 1845.00 - - - 2052.12 - -126.52 - - 3254.41 - - - - - - - - - - -
8037.05 860.41 -11.09 945 8038.38 no move -1.29 - - 1843.19 - - - 2051.81 - -126.52 - - 3254.91 - - - - - - - - - - -
8337.12 891.98 -10.56 975 8341.77 roll -1.29 - - 1845.50 - 3.56 0.171 3473.12 399.2 -126.52 - - 3255.28 - - - - - - - - - 16.13 -
8367.13 895.45 -9.99 981 8371.74 roll -1.29 - - 1844.81 - 3.38 0.103 2055.19 -419.5 -126.52 - - 3256.12 - - - - - - - - - 16.14 -
8677.16 928.64 -10.63 1013 8678.49 no move -1.29 - - 1845.56 - - - 2054.50 - -126.52 - - 3253.03 - - - - - - - - - - -
8977.19 959.80 -10.21 1043 8978.52 no move -1.29 - - 1845.31 - - - 2054.69 - -126.52 - - 3255.00 - - - - - - - - - - -
9277 end dive: TARGET_DEPTH_EXCEEDED
9277 begin apogee
9278.36 990.63 -10.20 1073 9385.53 -0.20 2.02 0.162 2131.31 141.6 0.06 0.395 2056.50 - - 103.48 2.369 2747.94 -4.9 0.349 - - - - - - 16.10 15.35 13.23
9386 end apogee: CONTROL_FINISHED_OK
9386 begin climb
9386.58 992.24 - 1083 9511.72 0.82 1.64 0.089 2385.44 155.0 4.03 0.215 663.75 -345.6 126.52 115.58 2.285 2230.84 -4.5 0.331 - - - - - - 15.40 14.95 12.72
9549.46 991.55 1.06 1115 9703.27 0.95 0.16 0.119 2415.62 188.6 3.51 0.088 2083.25 404.4 289.75 147.32 2.248 1569.06 -4.5 0.337 - - - - - - 15.21 15.22 12.62
9999.48 946.62 12.03 1175 10004.20 done 0.99 - - 2415.50 - 3.61 0.164 3471.75 384.6 289.75 - - 1557.41 - - - - - - - - - 15.53 -
10059.47 938.93 12.72 1187 10065.06 done 0.99 - - 2415.81 - 3.53 0.104 2055.06 -401.3 289.75 - - 1555.22 - - - - - - - - - 15.60 -
10364.52 899.21 13.24 1218 10370.11 done 1.04 - - 2415.38 - 3.63 0.163 3473.69 390.8 289.75 - - 1555.66 - - - - - - - - - 15.73 -
10383.37 897.16 13.48 1222 10390.21 done 1.04 - - 2415.69 - 3.47 0.099 2053.44 -409.3 289.75 - - 1555.12 - - - - - - - - - 15.75 -
10689.56 858.84 12.18 1253 10695.27 1.08 0.16 0.121 2448.69 206.2 3.60 0.161 3472.56 394.2 289.75 - - 1555.16 - - - - - - - - 15.83 15.83 -
10734.75 852.22 16.37 1262 10740.12 done 1.02 - - 2447.25 - 3.44 0.101 2052.56 -412.8 289.75 - - 1552.66 - - - - - - - - - 15.85 -
11039.58 808.81 14.56 1293 11044.31 done 1.02 - - 2448.88 - 3.60 0.160 3474.44 395.0 289.75 - - 1553.28 - - - - - - - - - 15.89 -
11073.47 803.33 16.63 1300 11080.38 0.97 0.36 0.195 2408.56 -112.0 3.42 0.098 2051.88 -416.0 289.75 - - 1553.03 - - - - - - - - 15.85 15.91 -
11379.67 767.00 11.35 1331 11381.12 1.05 0.22 0.115 2440.75 146.3 - - 2052.25 - 289.75 - - 1552.72 - - - - - - - - 15.94 - -
11679.71 728.85 12.87 1361 11685.29 done 1.05 - - 2437.19 - 3.57 0.159 3474.12 398.3 289.75 - - 1553.28 - - - - - - - - - 15.96 -
11768.67 716.47 14.08 1379 11775.56 done 1.02 - - 2440.62 - 3.39 0.098 2050.31 -420.0 289.75 - - 1553.44 - - - - - - - - - 15.98 -
12074.81 677.89 11.61 1410 12076.14 VBD 1.02 - - 2441.06 - - - 2050.69 - 289.75 - - 1551.03 - - - - - - - - - - -
12374.89 640.40 13.53 1440 12376.22 VBD 1.02 - - 2440.75 - - - 2050.44 - 289.75 - - 1551.53 - - - - - - - - - - -
12674.93 603.88 11.71 1470 12679.65 done 1.02 - - 2439.25 - 3.55 0.156 3473.69 400.9 289.75 - - 1553.06 - - - - - - - - - 16.03 -
12744.96 595.40 12.32 1484 12749.51 done 1.02 - - 2440.88 - 3.37 0.092 2050.19 -422.4 289.75 - - 1551.81 - - - - - - - - - 16.04 -
13055.02 560.92 11.21 1516 13056.35 VBD 1.02 - - 2441.00 - - - 2050.12 - 289.75 - - 1550.78 - - - - - - - - - - -
13355.08 528.82 10.36 1546 13359.81 done 1.02 - - 2440.94 - 3.53 0.153 3473.00 403.1 289.75 - - 1551.91 - - - - - - - - - 16.05 -
13408.97 522.97 10.49 1557 13415.79 done 1.02 - - 2441.12 - 3.36 0.091 2049.50 -423.7 289.75 - - 1552.09 - - - - - - - - - 16.07 -
13715.16 491.59 10.16 1588 13716.49 VBD 1.06 - - 2441.00 - - - 2050.50 - 289.75 - - 1551.56 - - - - - - - - - - -
14015.19 461.38 10.17 1618 14019.91 done 1.10 - - 2441.44 - 3.52 0.151 3473.06 404.1 289.75 - - 1551.25 - - - - - - - - - 16.07 -
14085.20 453.58 11.23 1632 14089.75 done 1.10 - - 2441.44 - 3.35 0.089 2050.19 -424.7 289.75 - - 1551.44 - - - - - - - - - 16.07 -
14395.24 420.56 10.31 1664 14400.94 done 1.14 - - 2439.44 - 3.51 0.148 3473.81 405.6 289.75 - - 1550.50 - - - - - - - - - 16.07 -
14424.09 416.88 12.27 1670 14430.91 done 1.14 - - 2441.00 - 3.34 0.085 2047.06 -427.2 289.75 - - 1552.72 - - - - - - - - - 16.09 -
14730.28 383.50 10.24 1701 14736.04 1.18 0.15 0.130 2474.06 220.4 3.51 0.147 3473.50 406.4 289.75 - - 1552.41 - - - - - - - - 16.08 16.06 -
14775.33 377.84 12.67 1710 14779.83 done 1.13 - - 2473.94 - 3.34 0.086 2048.50 -426.6 289.75 - - 1551.47 - - - - - - - - - 16.07 -
15085.31 339.27 12.37 1742 15090.03 done 1.13 - - 2473.31 - 3.54 0.146 3474.44 402.8 289.75 - - 1551.94 - - - - - - - - - 16.08 -
15125.84 333.83 14.04 1750 15131.11 1.07 0.33 0.205 2434.12 -118.8 3.34 0.084 2047.25 -427.3 289.75 - - 1550.03 - - - - - - - - 16.04 16.08 -
15430.37 302.11 9.91 1781 15431.70 VBD 1.15 - - 2433.81 - - - 2046.88 - 289.75 - - 1551.56 - - - - - - - - - - -
15730.41 271.72 10.29 1811 15736.20 1.24 0.34 0.103 2486.31 154.4 3.52 0.145 3474.25 405.5 289.75 - - 1551.81 - - - - - - - - 16.09 16.07 -
15805.41 261.44 14.22 1826 15811.02 1.17 0.25 0.215 2457.50 -115.2 3.34 0.084 2047.62 -427.1 289.75 - - 1550.44 - - - - - - - - 16.04 16.10 -
16110.46 228.25 10.71 1857 16111.79 VBD 1.22 - - 2457.44 - - - 2047.50 - 289.75 - - 1550.16 - - - - - - - - - - -
16410.47 197.85 10.99 1887 16416.25 1.27 0.22 0.115 2492.56 159.6 3.50 0.144 3475.38 408.0 289.75 - - 1550.09 - - - - - - - - 16.09 16.08 -
16459.40 191.47 13.71 1897 16466.15 done 1.20 - - 2492.44 - 3.33 0.083 2047.56 -428.8 289.75 - - 1551.44 - - - - - - - - - 16.09 -
16765.50 152.40 11.79 1928 16770.21 done 1.20 - - 2492.88 - 3.47 0.141 3473.25 410.9 289.75 - - 1551.59 - - - - - - - - - 16.09 -
16825.55 144.49 12.39 1940 16831.16 1.14 0.34 0.210 2449.06 -128.9 3.33 0.081 2047.62 -428.1 289.75 - - 1551.53 - - - - - - - - 16.04 16.10 -
17130.58 116.08 8.05 1971 17146.63 1.24 0.24 0.112 2485.94 153.7 3.56 0.181 662.56 -389.1 303.27 10.87 1.146 1512.06 -3.6 0.063 - - - - - - 16.09 15.99 13.24
17185.57 110.51 10.91 1982 17190.23 roll 1.17 - - 2486.62 - 3.28 0.070 2090.06 435.2 303.27 - - 1512.44 - - - - - - - - - 16.05 -
17490.72 80.65 7.96 2033 17506.93 VBD 1.24 - - 2483.94 - - - 2090.12 - 318.84 14.94 1.177 1450.50 -4.1 0.048 - - - - - - - - 13.18
17685.79 65.55 8.23 2072 17701.66 done 1.32 - - 2486.62 - 3.69 0.171 662.38 -386.9 328.60 10.23 1.071 1410.16 -3.9 0.041 - - - - - - - 15.93 13.16
17795.75 54.83 9.35 2094 17801.55 roll 1.32 - - 2486.31 - 3.29 0.071 2090.94 434.2 328.60 - - 1409.59 - - - - - - - - - 15.98 -
17982.24 40.98 7.43 2131 18013.29 1.46 0.29 0.101 2540.06 185.3 3.71 0.169 661.50 -385.3 355.53 23.72 1.188 1300.25 -4.6 0.027 - - - - - - 15.99 15.85 13.15
18046.07 35.15 9.74 2144 18051.81 roll 1.39 - - 2539.81 - 3.33 0.067 2090.94 429.3 355.53 - - 1298.19 - - - - - - - - - 15.92 -
18231.09 19.01 8.25 2181 18247.01 done 1.44 - - 2540.00 - 3.72 0.167 661.88 -384.2 364.83 9.85 1.003 1262.34 -3.6 0.012 - - - - - - - 15.86 13.12
18321.10 15.95 3.50 2199 18418.62 done 1.58 - - 2538.44 - 3.32 0.065 2093.88 431.3 475.77 92.54 1.167 811.25 -4.9 0.011 - - - - - - - 15.91 13.04
18596.37 4.48 5.17 2254 18632.19 1.88 0.61 0.084 2641.69 169.3 - - 2094.12 - 551.06 34.65 1.080 640.59 -4.9 0.003 - - - - - - 15.71 - 12.95
18632 end climb: SURFACE_DEPTH_REACHED
18632 begin surface coast
18661 end surface coast: CONTROL_FINISHED_OK
18661 begin surface
SM 2.50 - - - - 180.9 - 0.010 610.3 - 15.85 0.069 624.7 39.4 - 0.09 0.162 595.9 6621.1 -10.443 - - 30.36 15.62 15.65 -