NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 476 * Raw log
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• Previous call tries 2 • 141.80 of 575.00 AH used of 24V (75.34% remains)
• Surface angle -60.3 deg, depth 0.60 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.94 (SM_CC=425)
• GPS1 time: 28 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
7.19 - - - 85.99 VBD -1.25 - - 172.81 - - - 2117.38 - -77.86 78.15 0.005 2462.22 - - - - - - - - - - 15.23
86.26 3.17 -4.10 15 118.23 -1.25 14.35 0.255 1835.69 115.9 4.30 0.156 664.44 -337.9 -77.86 9.16 0.007 2816.56 38.7 -3.016 - - - - - - 15.42 15.24 15.29
206.09 28.03 -21.39 39 212.02 roll -1.25 - - 1835.44 - 3.62 0.052 2119.12 401.8 -77.86 - - 2817.38 - - - - - - - - - 15.61 -
391.17 63.59 -19.41 76 396.95 roll -1.25 - - 1835.44 - 3.72 0.110 3472.25 363.7 -77.86 - - 2816.69 - - - - - - - - - 15.66 -
441.18 72.65 -17.48 86 446.92 roll -1.25 - - 1835.75 - 3.41 0.056 2081.25 -407.9 -77.86 - - 2816.53 - - - - - - - - - 15.68 -
626.21 96.01 -12.58 123 627.53 no move -1.25 - - 1835.25 - - - 2080.88 - -77.86 - - 2816.44 - - - - - - - - - - -
811.25 116.76 -10.49 145 812.58 no move -1.25 - - 1835.56 - - - 2080.69 - -77.86 - - 2816.50 - - - - - - - - - - -
1111.26 147.61 -11.43 175 1117.00 roll -1.25 - - 1835.31 - 3.84 0.110 3473.00 362.6 -77.86 - - 2816.31 - - - - - - - - - 15.80 -
1230.20 162.18 -11.77 199 1237.02 roll -1.25 - - 1836.06 - 3.38 0.057 2081.75 -411.6 -77.86 - - 2816.84 - - - - - - - - - 15.82 -
1536.33 192.51 -10.02 230 1537.66 no move -1.25 - - 1836.25 - - - 2080.81 - -77.86 - - 2815.00 - - - - - - - - - - -
1836.36 223.32 -10.30 260 1837.69 no move -1.25 - - 1835.94 - - - 2080.81 - -77.86 - - 2817.09 - - - - - - - - - - -
2136.40 255.42 -10.50 290 2137.73 no move -1.25 - - 1835.50 - - - 2080.75 - -77.86 - - 2814.75 - - - - - - - - - - -
2436.44 286.48 -10.22 320 2442.19 roll -1.25 - - 1835.06 - 4.03 0.155 662.44 -351.9 -77.86 - - 2817.06 - - - - - - - - - 15.80 -
2505.36 294.99 -12.02 334 2512.28 roll -1.25 - - 1835.56 - 3.52 0.051 2119.25 413.9 -77.86 - - 2817.34 - - - - - - - - - 15.88 -
2811.49 327.97 -10.61 365 2812.82 no move -1.25 - - 1836.12 - - - 2119.69 - -77.86 - - 2816.03 - - - - - - - - - - -
3111.51 360.57 -10.81 395 3112.84 no move -1.25 - - 1836.00 - - - 2119.56 - -77.86 - - 2814.75 - - - - - - - - - - -
3411.55 391.93 -9.92 425 3412.88 no move -1.25 - - 1835.88 - - - 2119.62 - -77.86 - - 2815.31 - - - - - - - - - - -
3711.60 421.96 -9.93 455 3712.92 no move -1.25 - - 1835.44 - - - 2120.25 - -77.86 - - 2815.22 - - - - - - - - - - -
4011.62 450.53 -10.23 485 4012.95 no move -1.25 - - 1835.88 - - - 2119.94 - -77.86 - - 2814.84 - - - - - - - - - - -
4311.65 477.62 -8.34 515 4312.98 no move -1.25 - - 1835.50 - - - 2119.81 - -77.86 - - 2814.34 - - - - - - - - - - -
4611.71 504.15 -8.63 545 4613.04 no move -1.25 - - 1835.75 - - - 2119.94 - -77.86 - - 2813.56 - - - - - - - - - - -
4911.77 530.01 -7.96 575 4913.10 no move -1.25 - - 1835.38 - - - 2120.00 - -77.86 - - 2814.78 - - - - - - - - - - -
5211.83 556.35 -8.39 605 5217.62 roll -1.25 - - 1835.56 - 4.14 0.162 663.31 -351.9 -77.86 - - 2813.00 - - - - - - - - - 15.79 -
5280.88 563.52 -10.38 619 5287.62 roll -1.25 - - 1835.62 - 3.56 0.058 2116.50 408.2 -77.86 - - 2815.03 - - - - - - - - - 15.91 -
5586.93 590.78 -8.89 650 5588.26 no move -1.25 - - 1836.00 - - - 2116.50 - -77.86 - - 2814.34 - - - - - - - - - - -
5886.99 617.26 -9.08 680 5892.77 roll -1.25 - - 1834.56 - 4.13 0.164 663.38 -351.8 -77.86 - - 2815.41 - - - - - - - - - 15.78 -
5972.02 626.11 -10.84 697 5977.71 roll -1.25 - - 1835.44 - 3.56 0.058 2118.62 408.8 -77.86 - - 2810.94 - - - - - - - - - 15.90 -
6277.09 653.54 -8.86 728 6278.41 no move -1.25 - - 1835.88 - - - 2117.81 - -77.86 - - 2813.22 - - - - - - - - - - -
6577.14 679.12 -8.53 758 6578.47 no move -1.25 - - 1835.31 - - - 2117.19 - -77.86 - - 2811.56 - - - - - - - - - - -
6877.18 703.41 -7.88 788 6882.97 roll -1.25 - - 1835.31 - 4.14 0.166 663.50 -351.1 -77.86 - - 2811.16 - - - - - - - - - 15.77 -
6956.12 710.51 -8.64 804 6962.97 roll -1.25 - - 1834.62 - 3.55 0.058 2117.62 409.6 -77.86 - - 2813.94 - - - - - - - - - 15.90 -
7262.24 734.01 -7.52 835 7263.57 no move -1.25 - - 1835.56 - - - 2117.88 - -77.86 - - 2810.72 - - - - - - - - - - -
7562.27 755.26 -7.78 865 7563.60 no move -1.25 - - 1835.81 - - - 2117.62 - -77.86 - - 2811.53 - - - - - - - - - - -
7862.30 777.39 -7.65 895 7868.10 roll -1.25 - - 1835.38 - 4.14 0.168 662.31 -351.5 -77.86 - - 2808.97 - - - - - - - - - 15.76 -
7961.24 786.68 -10.40 915 7968.09 roll -1.25 - - 1835.62 - 3.56 0.063 2116.00 408.3 -77.86 - - 2810.94 - - - - - - - - - 15.89 -
8267.36 810.58 -8.51 946 8268.69 no move -1.25 - - 1836.00 - - - 2115.94 - -77.86 - - 2810.84 - - - - - - - - - - -
8567.40 833.13 -8.85 976 8573.18 roll -1.25 - - 1835.38 - 4.14 0.170 663.38 -350.9 -77.86 - - 2808.22 - - - - - - - - - 15.75 -
8646.33 840.64 -11.15 992 8653.18 roll -1.25 - - 1835.12 - 3.55 0.064 2117.00 409.5 -77.86 - - 2810.06 - - - - - - - - - 15.88 -
8952.45 863.35 -6.08 1023 8953.78 no move -1.25 - - 1835.38 - - - 2116.88 - -77.86 - - 2808.75 - - - - - - - - - - -
9252.47 886.12 -6.50 1053 9253.80 no move -1.25 - - 1835.69 - - - 2117.06 - -77.86 - - 2809.78 - - - - - - - - - - -
9552.51 909.73 -8.49 1083 9558.34 roll -1.25 - - 1836.31 - 4.15 0.173 664.38 -350.0 -77.86 - - 2807.59 - - - - - - - - - 15.73 -
9621.65 916.18 -8.67 1097 9628.30 roll -1.25 - - 1835.62 - 3.56 0.065 2115.75 407.7 -77.86 - - 2809.44 - - - - - - - - - 15.88 -
9927.56 940.63 -7.24 1128 9933.35 roll -1.25 - - 1835.50 - 4.11 0.173 664.62 -353.1 -77.86 - - 2808.81 - - - - - - - - - 15.72 -
9986.57 946.36 -9.32 1140 9993.33 roll -1.25 - - 1834.44 - 3.58 0.065 2114.19 404.9 -77.86 - - 2810.50 - - - - - - - - - 15.87 -
10292.61 969.27 -7.08 1171 10293.94 no move -1.25 - - 1835.69 - - - 2114.00 - -77.86 - - 2807.78 - - - - - - - - - - -
10582 end dive: TARGET_DEPTH_EXCEEDED
10582 begin apogee
10583.87 990.65 -7.51 1200 10654.48 -0.25 1.80 0.149 2079.31 135.3 0.08 0.299 2185.38 892.3 - 66.67 2.286 2500.56 -4.6 0.344 - - - - - - 15.78 15.08 11.95
10656 end apogee: CONTROL_FINISHED_OK
10656 begin climb
10656.48 991.97 - 1207 10738.33 1.25 2.65 0.091 2448.00 139.1 - - 2186.31 - 77.86 75.94 2.210 2181.03 -4.2 0.325 - - - - - - 15.17 - 12.33
11042.68 961.27 9.09 1250 11048.31 done 1.25 - - 2447.50 - 3.69 0.130 3472.12 348.5 77.86 - - 2169.62 - - - - - - - - - 15.49 -
11207.76 944.21 10.71 1283 11212.44 done 1.25 - - 2447.69 - 3.20 0.064 2183.56 -402.7 77.86 - - 2170.94 - - - - - - - - - 15.60 -
11517.83 917.39 8.46 1315 11519.16 VBD 1.25 - - 2447.38 - - - 2183.38 - 77.86 - - 2166.47 - - - - - - - - - - -
11817.89 891.43 8.65 1345 11819.22 VBD 1.25 - - 2446.62 - - - 2183.12 - 77.86 - - 2165.69 - - - - - - - - - - -
12117.95 865.20 8.46 1375 12122.71 done 1.25 - - 2447.88 - 3.62 0.127 3473.00 356.3 77.86 - - 2166.91 - - - - - - - - - 15.74 -
12258.00 851.34 8.97 1403 12262.68 done 1.25 - - 2447.12 - 3.17 0.062 2181.44 -407.4 77.86 - - 2167.38 - - - - - - - - - 15.78 -
12568.08 825.25 7.54 1435 12569.42 VBD 1.27 - - 2447.69 - - - 2181.88 - 77.86 - - 2163.78 - - - - - - - - - - -
12868.14 801.71 7.39 1465 12869.47 VBD 1.29 - - 2447.31 - - - 2182.31 - 77.86 - - 2163.12 - - - - - - - - - - -
13168.19 779.28 7.32 1495 13169.52 VBD 1.31 - - 2447.81 - - - 2182.25 - 77.86 - - 2163.03 - - - - - - - - - - -
13468.23 757.15 7.37 1525 13472.97 done 1.33 - - 2448.06 - 3.61 0.125 3472.94 357.5 77.86 - - 2163.00 - - - - - - - - - 15.78 -
13608.24 745.20 8.31 1553 13612.92 done 1.33 - - 2448.38 - 3.14 0.061 2181.62 -411.2 77.86 - - 2163.19 - - - - - - - - - 15.83 -
13918.29 722.90 7.26 1585 13919.62 VBD 1.35 - - 2447.75 - - - 2182.25 - 77.86 - - 2161.34 - - - - - - - - - - -
14218.32 700.22 7.46 1615 14224.13 1.37 0.16 0.118 2480.38 203.9 3.63 0.123 3472.12 355.3 77.86 - - 2160.53 - - - - - - - - 15.82 15.78 -
14313.33 692.11 8.92 1634 14318.02 done 1.37 - - 2479.81 - 3.12 0.059 2180.00 -414.1 77.86 - - 2162.09 - - - - - - - - - 15.84 -
14623.39 668.04 7.44 1666 14624.72 VBD 1.39 - - 2479.69 - - - 2180.56 - 77.86 - - 2161.22 - - - - - - - - - - -
14923.42 647.16 6.70 1696 14924.75 VBD 1.43 - - 2481.12 - - - 2181.31 - 77.86 - - 2160.81 - - - - - - - - - - -
15223.45 624.82 7.36 1726 15224.78 VBD 1.45 - - 2480.00 - - - 2180.81 - 77.86 - - 2161.06 - - - - - - - - - - -
15523.49 603.89 6.53 1756 15529.10 done 1.50 - - 2480.38 - 3.64 0.122 3472.50 354.9 77.86 - - 2159.88 - - - - - - - - - 15.76 -
15678.54 592.46 7.54 1787 15683.24 1.51 0.16 0.105 2514.50 213.2 3.13 0.059 2179.06 -413.2 77.86 - - 2162.56 - - - - - - - - 15.73 15.85 -
15988.57 571.11 6.88 1819 15994.24 done 1.55 - - 2514.88 - 3.62 0.120 3473.81 357.7 77.86 - - 2160.88 - - - - - - - - - 15.80 -
16093.58 563.48 6.77 1840 16098.11 done 1.58 - - 2515.06 - 3.14 0.058 2179.56 -412.2 77.86 - - 2161.66 - - - - - - - - - 15.86 -
16403.62 543.01 6.75 1872 16404.96 VBD 1.62 - - 2514.88 - - - 2179.38 - 77.86 - - 2160.34 - - - - - - - - - - -
16703.65 523.09 6.72 1902 16709.32 1.66 0.17 0.100 2552.25 219.8 3.65 0.119 3473.81 354.6 77.86 - - 2160.19 - - - - - - - - 15.84 15.79 -
16802.50 515.38 8.62 1922 16809.39 done 1.66 - - 2552.31 - 3.13 0.057 2179.38 -413.6 77.86 - - 2161.59 - - - - - - - - - 15.85 -
17108.74 493.96 7.18 1953 17110.08 VBD 1.69 - - 2553.00 - - - 2179.25 - 77.86 - - 2160.53 - - - - - - - - - - -
17408.80 472.77 6.73 1983 17414.42 done 1.73 - - 2552.50 - 3.62 0.117 3473.38 357.5 77.86 - - 2159.81 - - - - - - - - - 15.79 -
17503.82 464.79 8.71 2002 17508.36 done 1.73 - - 2552.31 - 3.12 0.056 2179.44 -414.7 77.86 - - 2162.12 - - - - - - - - - 15.85 -
17813.91 444.02 6.52 2034 17815.24 VBD 1.77 - - 2552.25 - - - 2179.88 - 77.86 - - 2160.38 - - - - - - - - - - -
18113.96 424.64 6.48 2064 18115.44 1.82 0.19 0.101 2588.88 192.8 - - 2179.50 - 77.86 - - 2159.62 - - - - - - - - 15.82 - -
18414.03 404.41 6.70 2094 18415.36 VBD 1.86 - - 2588.31 - - - 2180.00 - 77.86 - - 2160.84 - - - - - - - - - - -
18714.10 385.14 6.77 2124 18719.70 done 1.90 - - 2589.44 - 3.65 0.115 3473.62 354.4 77.86 - - 2161.00 - - - - - - - - - 15.78 -
18849.15 375.88 6.41 2151 18853.70 done 1.95 - - 2589.50 - 3.13 0.055 2177.75 -414.0 77.86 - - 2162.59 - - - - - - - - - 15.83 -
19159.19 357.82 5.55 2183 19189.93 2.06 0.33 0.082 2646.50 172.7 - - 2178.12 - 113.47 29.59 1.503 2037.28 -4.2 0.174 - - - - - - 15.73 - 12.02
19489.22 323.36 11.32 2216 19495.10 roll 2.06 - - 2646.50 - 4.01 0.132 735.12 -359.9 113.47 - - 2031.41 - - - - - - - - - 15.61 -
19548.35 315.55 14.50 2228 19555.01 roll 2.06 - - 2647.56 - 3.66 0.050 2223.50 406.7 113.47 - - 2029.78 - - - - - - - - - 15.66 -
19854.27 280.33 11.99 2259 19858.91 done 2.06 - - 2647.75 - 3.50 0.114 3474.94 357.6 113.47 - - 2029.88 - - - - - - - - - 15.71 -
19968.19 264.71 13.72 2282 19974.99 done 2.06 - - 2647.25 - 3.17 0.054 2179.12 -408.8 113.47 - - 2028.66 - - - - - - - - - 15.70 -
20274.33 229.34 11.03 2313 20275.67 VBD 2.06 - - 2648.19 - - - 2179.25 - 113.47 - - 2027.31 - - - - - - - - - - -
20574.35 195.92 10.65 2343 20579.98 done 2.06 - - 2646.62 - 3.64 0.112 3472.56 355.3 113.47 - - 2028.34 - - - - - - - - - 15.74 -
20693.22 182.12 11.35 2367 20700.21 done 2.06 - - 2647.75 - 3.15 0.053 2178.38 -410.9 113.47 - - 2028.31 - - - - - - - - - 15.79 -
20999.42 153.16 9.53 2398 21005.04 done 2.06 - - 2646.62 - 3.62 0.110 3472.44 357.5 113.47 - - 2030.38 - - - - - - - - - 15.76 -
21094.44 143.77 10.25 2417 21098.97 done 2.06 - - 2646.44 - 3.16 0.052 2179.06 -409.3 113.47 - - 2029.41 - - - - - - - - - 15.79 -
21404.49 119.48 6.99 2449 21405.83 VBD 2.09 - - 2647.69 - - - 2179.06 - 113.47 - - 2026.69 - - - - - - - - - - -
21704.52 104.98 3.31 2479 21767.69 2.29 0.31 0.081 2701.25 172.8 4.05 0.129 736.31 -356.2 181.10 56.65 1.230 1758.62 -4.7 0.070 - - - - - - 15.78 15.39 12.09
21990.51 72.66 10.33 2536 21996.30 roll 2.29 - - 2701.19 - 3.68 0.050 2223.75 404.2 181.10 - - 1753.44 - - - - - - - - - 15.59 -
22175.58 69.31 0.85 2573 22267.73 2.60 0.46 0.070 2776.50 163.7 3.61 0.110 3472.50 345.9 283.95 83.78 1.166 1341.66 -4.9 0.050 - - - - - - 15.56 15.15 12.13
22435.56 41.09 15.99 2625 22441.28 roll 2.60 - - 2776.94 - 3.23 0.052 2181.69 -399.6 283.95 - - 1336.34 - - - - - - - - - 15.44 -
22620.62 10.35 17.00 2662 22626.44 done 2.60 - - 2777.69 - 3.96 0.128 735.38 -365.2 283.95 - - 1334.22 - - - - - - - - - 15.56 -
22655.63 3.41 21.29 2669 22661.40 done 2.60 - - 2777.50 - 3.66 0.050 2221.50 406.0 283.95 - - 1333.91 - - - - - - - - - 15.55 -
22665 end climb: SURFACE_DEPTH_REACHED
22665 begin surface coast
22675 end surface coast: CONTROL_FINISHED_OK
22675 begin surface
SM 0.25 - - - - 173.8 - 0.009 767.7 - 17.74 0.066 763.5 43.0 - 0.34 0.093 771.8 2259.2 -0.621 - - 30.36 15.57 15.62 -