NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 454 * Raw log
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• Previous call tries 1 • 134.94 of 575.00 AH used of 24V (76.53% remains)
• Surface angle -67.4 deg, depth 0.85 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.77 (SM_CC=425)
• GPS1 time: 21 s
• GPS2 time: 5 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
7.09 - - - 90.81 VBD -1.25 - - 172.75 - - - 2124.81 - -77.86 83.17 0.005 2571.97 - - - - - - - - - - 15.28
91.09 3.56 -4.16 16 122.38 -1.25 14.27 0.259 1835.75 116.5 4.26 0.151 663.75 -343.0 -77.86 6.01 0.008 2816.03 40.6 -3.139 - - - - - - 15.44 15.30 15.35
345.16 63.70 -20.22 67 350.98 roll -1.25 - - 1834.62 - 3.63 0.052 2117.19 400.4 -77.86 - - 2816.84 - - - - - - - - - 15.68 -
530.23 87.81 -12.65 104 536.09 roll -1.25 - - 1836.00 - 4.13 0.144 663.44 -352.0 -77.86 - - 2817.50 - - - - - - - - - 15.69 -
644.16 104.41 -14.46 127 651.01 roll -1.25 - - 1834.62 - 3.57 0.049 2120.19 408.1 -77.86 - - 2816.94 - - - - - - - - - 15.76 -
950.28 138.19 -10.67 158 951.61 no move -1.25 - - 1835.69 - - - 2120.38 - -77.86 - - 2815.22 - - - - - - - - - - -
1250.31 168.93 -10.17 188 1256.10 roll -1.25 - - 1835.69 - 4.13 0.146 663.50 -352.8 -77.86 - - 2819.16 - - - - - - - - - 15.80 -
1329.17 178.87 -12.54 204 1336.09 roll -1.25 - - 1836.06 - 3.56 0.051 2118.62 408.7 -77.86 - - 2818.31 - - - - - - - - - 15.84 -
1635.37 211.69 -10.82 235 1636.70 no move -1.25 - - 1835.69 - - - 2118.81 - -77.86 - - 2815.38 - - - - - - - - - - -
1935.39 243.42 -10.99 265 1936.72 no move -1.25 - - 1835.50 - - - 2118.56 - -77.86 - - 2817.28 - - - - - - - - - - -
2235.43 273.87 -10.22 295 2236.76 no move -1.25 - - 1835.81 - - - 2118.81 - -77.86 - - 2817.12 - - - - - - - - - - -
2535.47 304.62 -10.33 325 2541.26 roll -1.25 - - 1835.25 - 4.12 0.151 662.06 -353.6 -77.86 - - 2818.41 - - - - - - - - - 15.85 -
2604.40 312.90 -12.42 339 2611.25 roll -1.25 - - 1835.88 - 3.54 0.053 2118.19 411.3 -77.86 - - 2817.31 - - - - - - - - - 15.90 -
2910.53 343.85 -10.96 370 2916.23 roll -1.25 - - 1835.75 - 3.71 0.116 3472.56 365.1 -77.86 - - 2815.75 - - - - - - - - - 15.90 -
2959.45 349.37 -11.52 380 2966.29 roll -1.25 - - 1836.12 - 3.41 0.059 2081.38 -408.0 -77.86 - - 2816.38 - - - - - - - - - 15.91 -
3265.57 379.37 -9.10 411 3266.89 no move -1.25 - - 1836.31 - - - 2081.62 - -77.86 - - 2816.53 - - - - - - - - - - -
3565.61 408.03 -9.27 441 3571.38 roll -1.25 - - 1835.69 - 4.01 0.155 663.56 -353.6 -77.86 - - 2817.03 - - - - - - - - - 15.86 -
3674.57 420.50 -11.46 463 3681.41 roll -1.25 - - 1835.75 - 3.53 0.055 2118.38 412.1 -77.86 - - 2817.06 - - - - - - - - - 15.92 -
3980.71 450.33 -9.43 494 3986.42 roll -1.25 - - 1835.75 - 3.70 0.118 3474.75 366.6 -77.86 - - 2814.91 - - - - - - - - - 15.90 -
4019.65 454.29 -9.89 502 4026.56 roll -1.25 - - 1835.56 - 3.42 0.060 2082.75 -407.0 -77.86 - - 2817.53 - - - - - - - - - 15.91 -
4325.79 484.79 -10.06 533 4331.56 roll -1.25 - - 1835.94 - 4.03 0.158 663.50 -352.2 -77.86 - - 2815.34 - - - - - - - - - 15.85 -
4460.85 500.36 -11.80 560 4465.52 roll -1.25 - - 1835.94 - 3.52 0.054 2116.38 412.8 -77.86 - - 2814.50 - - - - - - - - - 15.92 -
4770.91 531.00 -10.12 592 4772.24 no move -1.25 - - 1835.69 - - - 2118.06 - -77.86 - - 2816.12 - - - - - - - - - - -
5070.96 559.96 -8.87 622 5072.29 no move -1.25 - - 1835.56 - - - 2117.94 - -77.86 - - 2815.66 - - - - - - - - - - -
5371.03 587.63 -9.31 652 5376.81 roll -1.25 - - 1834.25 - 4.16 0.159 662.62 -349.8 -77.86 - - 2815.47 - - - - - - - - - 15.85 -
5430.04 593.77 -9.74 664 5436.95 roll -1.25 - - 1836.06 - 3.53 0.056 2118.00 412.3 -77.86 - - 2816.00 - - - - - - - - - 15.92 -
5736.10 619.43 -7.49 695 5737.43 no move -1.25 - - 1835.88 - - - 2118.44 - -77.86 - - 2815.00 - - - - - - - - - - -
6036.14 645.38 -7.97 725 6037.47 no move -1.25 - - 1835.94 - - - 2118.44 - -77.86 - - 2813.94 - - - - - - - - - - -
6336.17 669.63 -7.51 755 6341.97 roll -1.25 - - 1834.06 - 4.17 0.162 663.75 -348.8 -77.86 - - 2814.72 - - - - - - - - - 15.84 -
6381.20 674.13 -10.27 764 6385.86 roll -1.25 - - 1835.81 - 3.54 0.057 2118.62 411.0 -77.86 - - 2813.12 - - - - - - - - - 15.92 -
6691.22 698.89 -8.15 796 6692.55 no move -1.25 - - 1835.88 - - - 2119.62 - -77.86 - - 2812.62 - - - - - - - - - - -
6991.25 723.77 -7.78 826 6992.58 no move -1.25 - - 1836.06 - - - 2120.12 - -77.86 - - 2813.75 - - - - - - - - - - -
7291.28 750.20 -8.80 856 7292.61 no move -1.25 - - 1835.69 - - - 2119.50 - -77.86 - - 2813.66 - - - - - - - - - - -
7591.32 777.17 -8.31 886 7597.12 roll -1.25 - - 1835.38 - 4.22 0.167 664.69 -344.7 -77.86 - - 2813.22 - - - - - - - - - 15.83 -
7636.35 781.76 -11.13 895 7642.01 roll -1.25 - - 1835.75 - 3.54 0.061 2116.00 410.0 -77.86 - - 2813.09 - - - - - - - - - 15.92 -
7941.36 807.55 -8.48 926 7942.69 no move -1.25 - - 1835.62 - - - 2115.81 - -77.86 - - 2810.69 - - - - - - - - - - -
8241.39 832.19 -8.68 956 8242.72 no move -1.25 - - 1835.50 - - - 2116.06 - -77.86 - - 2812.59 - - - - - - - - - - -
8541.42 859.37 -9.23 986 8542.75 no move -1.25 - - 1835.88 - - - 2116.38 - -77.86 - - 2811.00 - - - - - - - - - - -
8841.46 883.52 -7.57 1016 8842.79 no move -1.25 - - 1835.50 - - - 2116.25 - -77.86 - - 2812.00 - - - - - - - - - - -
9141.50 907.23 -7.83 1046 9142.83 no move -1.25 - - 1835.50 - - - 2116.31 - -77.86 - - 2809.25 - - - - - - - - - - -
9441.53 930.06 -7.54 1076 9442.86 no move -1.25 - - 1835.88 - - - 2116.38 - -77.86 - - 2811.06 - - - - - - - - - - -
9741.56 951.81 -7.11 1106 9742.89 no move -1.25 - - 1835.38 - - - 2116.25 - -77.86 - - 2810.84 - - - - - - - - - - -
10041.61 972.87 -7.37 1136 10042.94 no move -1.25 - - 1835.81 - - - 2116.38 - -77.86 - - 2811.12 - - - - - - - - - - -
10291 end dive: TARGET_DEPTH_EXCEEDED
10291 begin apogee
10293.10 990.09 -6.41 1161 10363.50 -0.25 1.78 0.149 2081.06 137.8 0.08 0.297 2187.62 890.5 - 67.32 2.272 2498.84 -4.6 0.351 - - - - - - 15.81 15.10 12.11
10365 end apogee: CONTROL_FINISHED_OK
10365 begin climb
10365.46 991.25 - 1168 10444.98 1.25 2.62 0.093 2445.38 139.1 - - 2187.12 - 77.86 75.27 2.207 2181.31 -4.2 0.329 - - - - - - 15.17 - 12.30
10747.79 958.73 10.03 1208 10753.55 done 1.25 - - 2447.19 - 3.68 0.130 3473.69 349.6 77.86 - - 2171.75 - - - - - - - - - 15.53 -
10833.02 949.74 10.59 1225 10838.37 done 1.25 - - 2447.31 - 3.30 0.064 2183.69 -390.9 77.86 - - 2169.03 - - - - - - - - - 15.59 -
11137.88 921.99 8.30 1256 11139.21 VBD 1.25 - - 2448.00 - - - 2184.00 - 77.86 - - 2167.97 - - - - - - - - - - -
11437.95 894.96 8.79 1286 11443.70 done 1.25 - - 2447.50 - 3.66 0.126 3473.94 352.4 77.86 - - 2165.34 - - - - - - - - - 15.75 -
11523.04 886.59 10.14 1303 11527.52 done 1.25 - - 2447.00 - 3.22 0.062 2182.19 -401.2 77.86 - - 2167.25 - - - - - - - - - 15.78 -
11833.04 860.37 8.30 1335 11838.80 done 1.25 - - 2448.12 - 3.61 0.126 3472.06 357.3 77.86 - - 2166.12 - - - - - - - - - 15.78 -
11918.13 852.66 8.11 1352 11922.61 done 1.25 - - 2446.94 - 3.22 0.061 2179.69 -401.4 77.86 - - 2165.56 - - - - - - - - - 15.81 -
12228.12 826.10 7.88 1384 12233.89 done 1.25 - - 2447.69 - 3.62 0.125 3473.69 357.5 77.86 - - 2166.44 - - - - - - - - - 15.81 -
12303.28 818.54 10.64 1399 12307.68 done 1.25 - - 2447.62 - 3.22 0.060 2180.69 -401.6 77.86 - - 2165.50 - - - - - - - - - 15.84 -
12613.17 792.88 8.49 1431 12618.93 done 1.25 - - 2447.75 - 3.62 0.124 3473.56 357.1 77.86 - - 2163.19 - - - - - - - - - 15.81 -
12722.03 782.88 9.65 1453 12728.91 done 1.25 - - 2447.94 - 3.20 0.059 2181.94 -403.6 77.86 - - 2165.16 - - - - - - - - - 15.86 -
13028.24 758.53 7.24 1484 13034.06 done 1.28 - - 2446.62 - 4.08 0.140 736.75 -354.2 77.86 - - 2161.75 - - - - - - - - - 15.81 -
13077.16 754.08 9.21 1494 13084.01 done 1.28 - - 2447.19 - 3.61 0.054 2219.06 410.6 77.86 - - 2163.56 - - - - - - - - - 15.86 -
13383.28 730.04 8.40 1525 13384.61 VBD 1.28 - - 2447.56 - - - 2219.25 - 77.86 - - 2160.91 - - - - - - - - - - -
13683.31 705.53 8.39 1555 13684.64 VBD 1.28 - - 2448.12 - - - 2219.25 - 77.86 - - 2160.38 - - - - - - - - - - -
13983.35 681.73 8.58 1585 13984.68 VBD 1.28 - - 2447.75 - - - 2219.25 - 77.86 - - 2162.03 - - - - - - - - - - -
14283.38 658.46 7.60 1615 14288.24 done 1.28 - - 2447.94 - 3.50 0.126 3473.19 358.3 77.86 - - 2162.09 - - - - - - - - - 15.85 -
14477.26 642.24 8.59 1654 14484.14 done 1.28 - - 2447.94 - 3.21 0.059 2178.75 -403.3 77.86 - - 2161.69 - - - - - - - - - 15.88 -
14783.45 620.11 7.76 1685 14784.78 VBD 1.28 - - 2447.94 - - - 2178.69 - 77.86 - - 2162.16 - - - - - - - - - - -
15083.48 599.06 7.92 1715 15084.81 VBD 1.28 - - 2448.50 - - - 2178.94 - 77.86 - - 2161.88 - - - - - - - - - - -
15383.53 578.19 6.14 1745 15389.35 done 1.33 - - 2448.31 - 4.03 0.138 737.50 -357.7 77.86 - - 2159.19 - - - - - - - - - 15.82 -
15458.53 571.73 8.21 1760 15464.15 done 1.33 - - 2447.94 - 3.60 0.054 2221.31 412.2 77.86 - - 2158.81 - - - - - - - - - 15.89 -
15763.59 551.37 6.69 1791 15769.35 1.37 0.15 0.104 2482.88 232.9 3.46 0.122 3474.19 362.1 77.86 - - 2160.38 - - - - - - - - 15.87 15.82 -
15888.59 541.32 8.15 1816 15893.15 done 1.37 - - 2483.12 - 3.19 0.057 2178.50 -406.2 77.86 - - 2160.84 - - - - - - - - - 15.88 -
16198.68 520.22 6.70 1848 16200.01 VBD 1.42 - - 2482.94 - - - 2178.00 - 77.86 - - 2159.72 - - - - - - - - - - -
16498.74 500.74 6.99 1878 16503.46 done 1.45 - - 2483.75 - 3.58 0.118 3473.19 361.8 77.86 - - 2160.31 - - - - - - - - - 15.85 -
16612.62 492.31 7.23 1901 16619.46 done 1.47 - - 2481.94 - 3.17 0.056 2177.19 -408.8 77.86 - - 2160.91 - - - - - - - - - 15.89 -
16918.85 472.51 6.95 1932 16920.18 VBD 1.50 - - 2483.12 - - - 2177.94 - 77.86 - - 2160.91 - - - - - - - - - - -
17218.91 454.16 5.98 1962 17250.35 1.59 0.28 0.087 2534.62 183.9 4.06 0.138 737.31 -354.8 107.34 24.39 1.594 2060.38 -4.1 0.204 - - - - - - 15.85 15.61 12.19
17348.95 441.16 11.27 1988 17354.71 roll 1.59 - - 2535.44 - 3.63 0.052 2221.56 408.9 107.34 - - 2056.22 - - - - - - - - - 15.71 -
17654.05 412.89 9.93 2019 17658.79 roll 1.59 - - 2535.50 - 3.45 0.117 3472.75 362.7 107.34 - - 2055.97 - - - - - - - - - 15.69 -
17844.08 392.36 10.66 2057 17848.62 roll 1.59 - - 2535.06 - 3.22 0.056 2178.19 -402.0 107.34 - - 2056.47 - - - - - - - - - 15.76 -
18154.12 362.06 9.21 2089 18155.45 no move 1.59 - - 2535.00 - - - 2178.62 - 107.34 - - 2055.22 - - - - - - - - - - -
18454.15 335.48 8.38 2119 18455.47 no move 1.59 - - 2535.19 - - - 2178.94 - 107.34 - - 2055.22 - - - - - - - - - - -
18754.18 308.44 9.86 2149 18759.94 roll 1.59 - - 2534.06 - 4.02 0.134 735.50 -359.1 107.34 - - 2055.22 - - - - - - - - - 15.79 -
18913.14 291.66 10.47 2181 18919.98 done 1.59 - - 2534.81 - 3.58 0.052 2224.50 415.9 107.34 - - 2054.62 - - - - - - - - - 15.85 -
19219.26 265.35 8.62 2212 19223.83 done 1.59 - - 2533.69 - 3.41 0.115 3473.62 366.3 107.34 - - 2054.84 - - - - - - - - - 15.79 -
19369.28 251.18 9.12 2242 19373.85 done 1.59 - - 2534.12 - 3.16 0.054 2177.44 -410.2 107.34 - - 2054.12 - - - - - - - - - 15.80 -
19679.32 225.66 7.97 2274 19684.92 done 1.59 - - 2533.50 - 3.53 0.111 3473.75 367.2 107.34 - - 2052.78 - - - - - - - - - 15.83 -
19738.18 220.38 8.45 2286 19745.02 done 1.59 - - 2535.12 - 3.16 0.052 2177.19 -410.3 107.34 - - 2054.62 - - - - - - - - - 15.85 -
20044.38 197.84 7.35 2317 20049.12 done 1.61 - - 2534.75 - 3.55 0.112 3474.38 365.4 107.34 - - 2053.94 - - - - - - - - - 15.80 -
20168.22 187.26 8.61 2342 20175.08 done 1.61 - - 2534.94 - 3.15 0.052 2177.88 -411.6 107.34 - - 2055.50 - - - - - - - - - 15.85 -
20474.44 165.98 6.60 2373 20475.77 VBD 1.66 - - 2533.50 - - - 2177.44 - 107.34 - - 2054.22 - - - - - - - - - - -
20774.47 147.60 6.75 2403 20775.80 VBD 1.70 - - 2535.31 - - - 2178.12 - 107.34 - - 2054.16 - - - - - - - - - - -
21074.59 128.88 5.71 2433 21109.96 1.80 0.25 0.090 2583.69 193.5 4.03 0.129 736.50 -357.7 140.71 29.01 1.227 1924.00 -4.5 0.082 - - - - - - 15.75 15.61 12.27
21164.53 121.37 10.47 2451 21170.27 roll 1.80 - - 2584.69 - 3.64 0.051 2224.00 408.7 140.71 - - 1921.00 - - - - - - - - - 15.64 -
21469.56 92.49 9.27 2490 21470.89 no move 1.80 - - 2585.00 - - - 2223.94 - 140.71 - - 1918.53 - - - - - - - - - - -
21649.60 77.73 6.98 2526 21650.93 no move 1.83 - - 2584.81 - - - 2223.69 - 140.71 - - 1918.88 - - - - - - - - - - -
21829.69 68.14 4.86 2562 21876.46 1.97 0.20 0.087 2622.44 188.2 4.22 0.125 735.25 -352.7 186.23 38.69 1.155 1739.75 -4.6 0.047 - - - - - - 15.75 15.47 12.28
21994.72 54.51 9.07 2595 22000.50 roll 1.97 - - 2624.12 - 3.64 0.050 2223.56 408.9 186.23 - - 1735.44 - - - - - - - - - 15.57 -
22179.82 50.62 1.18 2632 22267.34 2.26 0.42 0.066 2696.94 173.4 3.55 0.111 3473.44 352.1 284.29 80.97 1.122 1339.12 -4.9 0.038 - - - - - - 15.66 15.20 12.38
22490.15 15.58 16.19 2694 22495.86 roll 2.26 - - 2696.12 - 3.21 0.051 2182.12 -402.3 284.29 - - 1333.72 - - - - - - - - - 15.56 -
22580 end climb: SURFACE_DEPTH_REACHED
22580 begin surface coast
22590 end surface coast: CONTROL_FINISHED_OK
22590 begin surface
SM 0.73 - - - - 183.9 2.06 0.250 768.4 373.0 17.40 0.086 767.0 44.1 - 0.22 0.097 769.8 3484.5 -2.680 - - 12.22 15.54 15.61 -