NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 439 * Raw log
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• Previous call tries 2 • 130.18 of 575.00 AH used of 24V (77.36% remains)
• Surface angle -60.1 deg, depth 1.11 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.68 (SM_CC=425)
• GPS1 time: 36 s
• GPS2 time: 5 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
7.13 - - - 85.67 VBD -1.25 - - 172.88 - - - 2118.06 - -77.86 77.93 0.005 2479.78 - - - - - - - - - - 15.31
85.93 3.19 -3.67 15 117.83 -1.25 14.62 0.264 1835.56 113.7 3.79 0.117 3473.94 357.8 -77.86 8.55 0.007 2818.88 39.7 -3.140 - - - - - - 15.46 15.33 15.37
120.58 10.65 -19.37 22 126.31 roll -1.25 - - 1835.81 - 3.45 0.061 2082.81 -403.2 -77.86 - - 2817.62 - - - - - - - - - 15.57 -
305.63 46.96 -19.84 59 306.96 no move -1.25 - - 1835.75 - - - 2082.31 - -77.86 - - 2816.97 - - - - - - - - - - -
485.67 82.42 -15.30 95 486.99 no move -1.25 - - 1835.62 - - - 2082.81 - -77.86 - - 2817.19 - - - - - - - - - - -
665.72 105.09 -11.41 127 667.05 no move -1.25 - - 1835.50 - - - 2082.69 - -77.86 - - 2817.03 - - - - - - - - - - -
965.78 138.54 -11.45 157 967.11 no move -1.25 - - 1835.69 - - - 2082.06 - -77.86 - - 2817.38 - - - - - - - - - - -
1265.84 172.88 -11.43 187 1271.56 roll -1.25 - - 1835.38 - 3.78 0.115 3474.12 368.3 -77.86 - - 2819.53 - - - - - - - - - 15.86 -
1354.86 183.96 -12.18 205 1361.62 roll -1.25 - - 1835.56 - 3.43 0.061 2081.69 -406.0 -77.86 - - 2818.03 - - - - - - - - - 15.87 -
1660.93 216.47 -10.45 236 1662.26 no move -1.25 - - 1835.62 - - - 2081.12 - -77.86 - - 2817.72 - - - - - - - - - - -
1960.99 247.14 -10.11 266 1966.75 roll -1.25 - - 1836.12 - 4.00 0.155 663.25 -354.5 -77.86 - - 2819.06 - - - - - - - - - 15.85 -
2016.03 254.11 -12.99 277 2020.68 roll -1.25 - - 1835.94 - 3.50 0.055 2120.19 416.3 -77.86 - - 2817.41 - - - - - - - - - 15.89 -
2326.09 289.00 -10.67 309 2327.42 no move -1.25 - - 1835.56 - - - 2120.31 - -77.86 - - 2817.47 - - - - - - - - - - -
2626.14 321.70 -10.16 339 2627.46 no move -1.25 - - 1835.12 - - - 2120.56 - -77.86 - - 2817.69 - - - - - - - - - - -
2926.19 353.04 -11.00 369 2931.97 roll -1.25 - - 1835.81 - 4.16 0.155 663.31 -350.3 -77.86 - - 2815.66 - - - - - - - - - 15.88 -
3021.22 365.48 -12.37 388 3025.91 roll -1.25 - - 1835.69 - 3.53 0.057 2119.44 412.5 -77.86 - - 2817.84 - - - - - - - - - 15.92 -
3331.25 398.57 -10.42 420 3337.04 roll -1.25 - - 1835.94 - 4.15 0.156 662.31 -351.1 -77.86 - - 2815.69 - - - - - - - - - 15.87 -
3416.27 409.43 -13.31 437 3420.95 roll -1.25 - - 1834.31 - 3.52 0.056 2116.62 413.2 -77.86 - - 2817.72 - - - - - - - - - 15.93 -
3726.32 440.82 -9.93 469 3732.10 roll -1.25 - - 1835.81 - 4.11 0.158 662.56 -353.8 -77.86 - - 2815.56 - - - - - - - - - 15.87 -
3765.25 445.34 -12.43 477 3772.09 roll -1.25 - - 1835.81 - 3.51 0.056 2117.62 414.5 -77.86 - - 2818.03 - - - - - - - - - 15.93 -
4071.38 476.90 -10.27 508 4072.70 no move -1.25 - - 1835.75 - - - 2117.19 - -77.86 - - 2817.19 - - - - - - - - - - -
4371.39 506.10 -9.52 538 4377.17 roll -1.25 - - 1835.31 - 4.12 0.160 662.44 -353.1 -77.86 - - 2815.84 - - - - - - - - - 15.87 -
4496.42 520.14 -10.58 563 4502.10 roll -1.25 - - 1836.06 - 3.53 0.058 2117.38 412.2 -77.86 - - 2815.31 - - - - - - - - - 15.94 -
4801.45 548.50 -8.47 594 4807.22 roll -1.25 - - 1835.88 - 4.10 0.161 663.12 -354.7 -77.86 - - 2813.78 - - - - - - - - - 15.87 -
4876.54 556.35 -10.33 609 4882.15 roll -1.25 - - 1834.06 - 3.52 0.059 2117.75 413.2 -77.86 - - 2815.09 - - - - - - - - - 15.93 -
5181.50 583.47 -8.42 640 5182.83 no move -1.25 - - 1835.62 - - - 2118.12 - -77.86 - - 2813.62 - - - - - - - - - - -
5481.53 611.44 -9.50 670 5482.86 no move -1.25 - - 1835.69 - - - 2117.94 - -77.86 - - 2813.53 - - - - - - - - - - -
5781.56 638.70 -8.95 700 5782.89 no move -1.25 - - 1835.69 - - - 2118.25 - -77.86 - - 2814.53 - - - - - - - - - - -
6081.61 666.09 -9.70 730 6087.38 roll -1.25 - - 1835.56 - 4.16 0.168 663.19 -349.8 -77.86 - - 2815.06 - - - - - - - - - 15.86 -
6130.56 670.88 -10.78 740 6137.38 roll -1.25 - - 1835.75 - 3.56 0.064 2115.00 407.8 -77.86 - - 2815.50 - - - - - - - - - 15.93 -
6436.65 699.98 -9.34 771 6442.43 roll -1.25 - - 1836.00 - 4.14 0.170 663.38 -350.6 -77.86 - - 2815.84 - - - - - - - - - 15.85 -
6531.66 710.77 -13.73 790 6537.35 roll -1.25 - - 1835.81 - 3.54 0.064 2117.50 410.8 -77.86 - - 2811.41 - - - - - - - - - 15.92 -
6836.71 738.66 -9.59 821 6838.04 no move -1.25 - - 1835.62 - - - 2117.69 - -77.86 - - 2813.12 - - - - - - - - - - -
7136.77 766.06 -8.73 851 7138.10 no move -1.25 - - 1836.00 - - - 2118.00 - -77.86 - - 2811.75 - - - - - - - - - - -
7436.83 791.26 -8.46 881 7442.62 roll -1.25 - - 1835.75 - 4.15 0.171 663.62 -350.5 -77.86 - - 2812.88 - - - - - - - - - 15.84 -
7521.86 800.18 -12.82 898 7526.55 roll -1.25 - - 1835.81 - 3.56 0.066 2114.94 407.7 -77.86 - - 2813.50 - - - - - - - - - 15.93 -
7831.94 826.19 -8.63 930 7833.27 no move -1.25 - - 1835.75 - - - 2116.75 - -77.86 - - 2810.22 - - - - - - - - - - -
8131.99 849.46 -7.82 960 8133.32 no move -1.25 - - 1835.19 - - - 2116.88 - -77.86 - - 2811.72 - - - - - - - - - - -
8432.06 874.50 -7.84 990 8433.38 no move -1.25 - - 1836.19 - - - 2117.38 - -77.86 - - 2811.81 - - - - - - - - - - -
8732.11 900.30 -8.57 1020 8733.44 no move -1.25 - - 1835.50 - - - 2117.69 - -77.86 - - 2811.72 - - - - - - - - - - -
9032.17 924.92 -7.85 1050 9037.96 roll -1.25 - - 1833.31 - 4.20 0.174 663.19 -346.3 -77.86 - - 2810.09 - - - - - - - - - 15.83 -
9131.12 934.47 -9.20 1070 9137.97 roll -1.25 - - 1835.50 - 3.59 0.073 2114.62 404.3 -77.86 - - 2810.25 - - - - - - - - - 15.92 -
9437.24 954.99 -6.54 1101 9443.03 roll -1.25 - - 1834.06 - 4.20 0.176 663.56 -345.5 -77.86 - - 2810.28 - - - - - - - - - 15.82 -
9502.33 960.70 -7.90 1114 9507.94 roll -1.25 - - 1835.06 - 3.57 0.071 2113.12 406.0 -77.86 - - 2810.00 - - - - - - - - - 15.91 -
9807.30 982.61 -6.24 1145 9813.08 roll -1.25 - - 1835.94 - 4.18 0.178 664.62 -346.5 -77.86 - - 2812.69 - - - - - - - - - 15.82 -
9887 end dive: TARGET_DEPTH_EXCEEDED
9887 begin apogee
9891.72 990.49 -9.79 1161 9961.33 -0.25 1.83 0.158 2079.88 133.3 0.07 0.314 2187.19 21751.0 - 66.19 2.279 2497.28 -4.8 0.360 - - - - - - 15.82 15.10 12.22
9963 end apogee: CONTROL_FINISHED_OK
9964 begin climb
9963.25 992.63 - 1168 10041.01 1.25 2.66 0.090 2446.94 138.0 - - 2187.25 - 77.86 73.83 2.223 2182.22 -4.3 0.331 - - - - - - 15.18 - 12.48
10336.21 967.10 7.90 1206 10337.54 VBD 1.25 - - 2447.06 - - - 2187.06 - 77.86 - - 2171.56 - - - - - - - - - - -
10636.24 945.34 7.73 1236 10641.85 done 1.25 - - 2446.25 - 3.59 0.133 3473.75 358.4 77.86 - - 2167.97 - - - - - - - - - 15.68 -
10701.27 940.44 7.62 1249 10705.94 done 1.25 - - 2447.12 - 3.21 0.066 2183.69 -401.9 77.86 - - 2169.97 - - - - - - - - - 15.70 -
11011.30 915.72 7.86 1281 11012.63 VBD 1.25 - - 2446.25 - - - 2184.06 - 77.86 - - 2167.62 - - - - - - - - - - -
11311.36 890.13 8.41 1311 11317.08 done 1.25 - - 2446.50 - 3.60 0.132 3472.06 357.8 77.86 - - 2164.91 - - - - - - - - - 15.79 -
11366.35 885.48 8.72 1322 11371.01 done 1.25 - - 2446.94 - 3.19 0.065 2182.88 -404.1 77.86 - - 2167.25 - - - - - - - - - 15.81 -
11676.37 858.82 8.47 1354 11681.98 done 1.25 - - 2447.12 - 3.56 0.130 3473.25 362.5 77.86 - - 2167.19 - - - - - - - - - 15.82 -
11831.40 843.99 9.90 1385 11836.07 done 1.25 - - 2447.12 - 3.17 0.065 2183.19 -407.0 77.86 - - 2167.41 - - - - - - - - - 15.79 -
12141.45 818.36 7.32 1417 12147.05 done 1.27 - - 2447.56 - 3.56 0.130 3470.44 361.6 77.86 - - 2163.34 - - - - - - - - - 15.83 -
12206.46 812.72 8.40 1430 12211.12 done 1.27 - - 2447.62 - 3.18 0.064 2181.06 -405.5 77.86 - - 2165.06 - - - - - - - - - 15.86 -
12516.49 789.93 6.94 1462 12517.82 VBD 1.31 - - 2447.25 - - - 2181.56 - 77.86 - - 2164.31 - - - - - - - - - - -
12816.52 769.02 7.06 1492 12822.15 done 1.34 - - 2446.88 - 3.56 0.129 3472.19 362.5 77.86 - - 2163.06 - - - - - - - - - 15.85 -
12895.58 762.29 8.44 1508 12902.22 done 1.34 - - 2447.19 - 3.16 0.064 2181.50 -408.4 77.86 - - 2165.19 - - - - - - - - - 15.88 -
13201.57 739.43 8.39 1539 13202.91 VBD 1.34 - - 2447.50 - - - 2181.44 - 77.86 - - 2161.66 - - - - - - - - - - -
13501.59 715.61 7.98 1569 13507.21 done 1.34 - - 2447.69 - 3.54 0.129 3474.88 365.4 77.86 - - 2162.22 - - - - - - - - - 15.86 -
13580.60 708.24 10.03 1585 13587.30 done 1.34 - - 2447.62 - 3.15 0.063 2180.62 -410.9 77.86 - - 2163.59 - - - - - - - - - 15.87 -
13886.64 684.72 8.13 1616 13887.98 VBD 1.34 - - 2447.69 - - - 2180.94 - 77.86 - - 2162.75 - - - - - - - - - - -
14186.69 663.63 6.33 1646 14188.15 1.39 0.19 0.109 2486.38 203.6 - - 2180.31 - 77.86 - - 2164.16 - - - - - - - - 15.86 - -
14486.76 641.18 6.80 1676 14488.09 VBD 1.43 - - 2486.50 - - - 2180.56 - 77.86 - - 2161.12 - - - - - - - - - - -
14786.80 621.19 6.42 1706 14792.40 done 1.48 - - 2486.50 - 3.54 0.129 3473.81 365.3 77.86 - - 2160.88 - - - - - - - - - 15.87 -
14855.68 615.92 7.37 1720 14862.53 done 1.50 - - 2486.88 - 3.17 0.063 2178.75 -408.5 77.86 - - 2163.00 - - - - - - - - - 15.89 -
15161.89 597.14 5.72 1751 15196.65 1.60 0.25 0.085 2535.19 193.2 3.60 0.127 3472.00 359.2 111.05 27.80 1.786 2045.78 -4.2 0.245 - - - - - - 15.86 15.58 12.30
15321.94 581.71 10.58 1783 15326.61 roll 1.60 - - 2534.62 - 3.24 0.063 2182.56 -398.0 111.05 - - 2043.81 - - - - - - - - - 15.68 -
15632.00 550.51 11.17 1815 15633.33 no move 1.60 - - 2534.81 - - - 2182.44 - 111.05 - - 2039.84 - - - - - - - - - - -
15932.05 517.87 10.71 1845 15933.38 no move 1.60 - - 2534.94 - - - 2182.75 - 111.05 - - 2038.91 - - - - - - - - - - -
16232.11 486.32 11.08 1875 16237.74 roll 1.60 - - 2535.12 - 3.56 0.124 3472.94 362.4 111.05 - - 2037.91 - - - - - - - - - 15.79 -
16407.19 466.50 10.85 1910 16411.71 done 1.60 - - 2535.31 - 3.20 0.063 2182.06 -403.4 111.05 - - 2040.03 - - - - - - - - - 15.84 -
16717.22 437.13 8.96 1942 16722.85 done 1.60 - - 2535.69 - 3.54 0.121 3472.88 364.6 111.05 - - 2041.31 - - - - - - - - - 15.79 -
16842.26 425.10 9.42 1967 16846.79 done 1.60 - - 2535.50 - 3.18 0.061 2180.25 -406.5 111.05 - - 2039.97 - - - - - - - - - 15.85 -
17152.30 398.16 8.23 1999 17158.05 done 1.60 - - 2535.81 - 3.99 0.139 737.38 -361.6 111.05 - - 2037.22 - - - - - - - - - 15.82 -
17227.39 390.45 10.48 2014 17233.09 done 1.60 - - 2535.25 - 3.61 0.058 2221.50 411.1 111.05 - - 2039.88 - - - - - - - - - 15.87 -
17532.36 364.13 8.64 2045 17536.95 done 1.60 - - 2535.62 - 3.42 0.122 3471.88 365.6 111.05 - - 2038.25 - - - - - - - - - 15.85 -
17652.38 352.95 9.80 2069 17656.92 done 1.60 - - 2535.81 - 3.17 0.059 2178.12 -408.1 111.05 - - 2039.41 - - - - - - - - - 15.86 -
17962.42 328.82 8.32 2101 17963.75 VBD 1.60 - - 2535.38 - - - 2178.12 - 111.05 - - 2038.44 - - - - - - - - - - -
18262.45 304.12 8.31 2131 18268.55 done 1.60 - - 2535.56 - 3.97 0.137 736.00 -363.3 111.05 - - 2036.78 - - - - - - - - - 15.83 -
18337.67 297.24 8.93 2146 18343.08 done 1.60 - - 2535.00 - 3.59 0.057 2223.94 414.5 111.05 - - 2036.56 - - - - - - - - - 15.88 -
18642.51 274.46 7.58 2177 18647.21 done 1.60 - - 2536.44 - 3.38 0.119 3474.19 369.9 111.05 - - 2037.97 - - - - - - - - - 15.86 -
18692.53 270.29 8.96 2187 18697.05 done 1.60 - - 2535.88 - 3.17 0.057 2178.00 -408.9 111.05 - - 2038.44 - - - - - - - - - 15.82 -
19002.57 249.99 6.47 2219 19008.37 done 1.64 - - 2534.00 - 4.00 0.135 736.38 -360.4 111.05 - - 2037.97 - - - - - - - - - 15.84 -
19107.57 241.31 8.80 2240 19113.20 done 1.64 - - 2535.69 - 3.64 0.057 2223.81 408.6 111.05 - - 2037.91 - - - - - - - - - 15.88 -
19412.63 220.56 6.40 2271 19417.17 done 1.69 - - 2536.38 - 3.38 0.118 3475.19 370.2 111.05 - - 2037.50 - - - - - - - - - 15.80 -
19546.49 211.04 6.54 2298 19553.41 1.74 0.16 0.102 2568.50 200.7 3.16 0.055 2176.69 -410.9 111.05 - - 2037.66 - - - - - - - - 15.80 15.86 -
19852.69 191.33 6.14 2329 19858.35 done 1.79 - - 2568.38 - 3.97 0.133 736.56 -362.8 111.05 - - 2035.97 - - - - - - - - - 15.83 -
20081.61 173.07 8.05 2375 20088.54 done 1.79 - - 2568.25 - 3.62 0.055 2224.69 411.1 111.05 - - 2037.56 - - - - - - - - - 15.80 -
20387.85 152.39 6.84 2406 20389.18 VBD 1.83 - - 2566.56 - - - 2224.38 - 111.05 - - 2037.25 - - - - - - - - - - -
20687.90 136.00 4.57 2436 20735.48 1.98 0.34 0.075 2628.25 181.4 3.48 0.118 3472.06 358.5 160.73 42.06 1.266 1841.38 -4.7 0.087 - - - - - - 15.85 15.52 12.30
20917.13 110.90 11.79 2482 20924.00 roll 1.98 - - 2627.69 - 3.21 0.056 2178.12 -403.1 160.73 - - 1837.84 - - - - - - - - - 15.67 -
21223.45 86.91 6.98 2530 21229.25 roll 2.01 - - 2625.94 - 3.56 0.112 3472.69 363.6 160.73 - - 1837.62 - - - - - - - - - 15.72 -
21453.41 73.68 5.36 2576 21490.81 2.13 0.18 0.092 2663.69 209.7 3.19 0.053 2176.75 -406.3 199.14 32.46 1.158 1688.22 -4.6 0.051 - - - - - - 15.70 15.75 12.38
21668.80 57.94 8.71 2619 21674.34 roll 2.13 - - 2664.38 - 3.59 0.111 3473.88 361.3 199.14 - - 1682.22 - - - - - - - - - 15.59 -
21768.82 52.57 4.66 2639 21815.25 2.27 0.17 0.091 2696.38 188.2 3.23 0.052 2177.44 -401.4 247.53 41.65 1.131 1491.03 -4.6 0.037 - - - - - - 15.60 15.68 12.34
21993.65 37.37 9.83 2684 21999.48 roll 2.27 - - 2698.06 - 4.07 0.128 736.25 -354.1 247.53 - - 1485.12 - - - - - - - - - 15.58 -
22223.91 4.21 14.87 2730 22229.48 roll 2.27 - - 2697.00 - 3.64 0.054 2222.69 408.4 247.53 - - 1484.44 - - - - - - - - - 15.67 -
22249 end climb: SURFACE_DEPTH_REACHED
22249 begin surface coast
22264 end surface coast: CONTROL_FINISHED_OK
22264 begin surface
SM 0.41 - - - - 171.6 0.16 0.175 768.7 4804.4 17.51 0.078 772.7 44.1 - 0.34 0.084 764.8 2238.7 -1.117 - - 15.12 15.62 15.70 -