NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 488 * Raw log
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• Previous call tries 2 • 145.59 of 575.00 AH used of 24V (74.68% remains)
• Surface angle -62.4 deg, depth 0.77 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 425.09 (SM_CC=425)
• GPS1 time: 24 s
• GPS2 time: 4 s • Transponder ping count: 4
• 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
7.15 - - - 86.20 VBD -1.25 - - 175.31 - - - 2117.06 - -77.86 78.43 0.005 2484.84 - - - - - - - - - - 15.21
86.46 3.30 -3.72 15 118.30 -1.25 14.37 0.253 1837.38 115.7 3.71 0.114 3473.12 365.5 -77.86 8.59 0.007 2816.53 38.6 -3.153 - - - - - - 15.39 15.20 15.27
341.15 56.27 -20.81 66 347.01 roll -1.25 - - 1837.12 - 3.41 0.059 2081.62 -408.1 -77.86 - - 2816.81 - - - - - - - - - 15.65 -
526.15 80.27 -11.52 103 531.93 roll -1.25 - - 1837.56 - 3.77 0.106 3473.88 369.3 -77.86 - - 2818.12 - - - - - - - - - 15.68 -
696.19 101.82 -12.61 137 700.75 roll -1.25 - - 1836.75 - 3.38 0.056 2080.44 -412.3 -77.86 - - 2817.88 - - - - - - - - - 15.73 -
1006.21 135.46 -10.49 169 1012.03 roll -1.25 - - 1837.12 - 3.94 0.152 662.38 -359.9 -77.86 - - 2817.53 - - - - - - - - - 15.70 -
1105.08 148.00 -13.42 189 1112.00 roll -1.25 - - 1836.94 - 3.51 0.049 2122.00 415.8 -77.86 - - 2817.47 - - - - - - - - - 15.79 -
1411.27 183.13 -11.29 220 1416.90 roll -1.25 - - 1837.19 - 3.64 0.111 3473.81 371.4 -77.86 - - 2815.50 - - - - - - - - - 15.79 -
1450.14 187.61 -11.23 228 1457.01 roll -1.25 - - 1837.25 - 3.34 0.056 2081.56 -416.8 -77.86 - - 2816.88 - - - - - - - - - 15.80 -
1756.34 220.18 -10.61 259 1757.67 no move -1.25 - - 1837.00 - - - 2080.94 - -77.86 - - 2817.25 - - - - - - - - - - -
2056.35 251.28 -9.84 289 2062.17 roll -1.25 - - 1837.44 - 3.91 0.153 662.56 -362.8 -77.86 - - 2815.91 - - - - - - - - - 15.76 -
2095.22 256.15 -11.76 297 2102.12 roll -1.25 - - 1837.38 - 3.51 0.052 2119.75 415.2 -77.86 - - 2816.75 - - - - - - - - - 15.84 -
2401.40 287.67 -10.17 328 2406.15 roll -1.25 - - 1836.00 - 3.63 0.114 3474.38 373.2 -77.86 - - 2819.47 - - - - - - - - - 15.82 -
2465.26 294.89 -11.36 341 2472.14 roll -1.25 - - 1837.06 - 3.33 0.058 2080.50 -418.6 -77.86 - - 2819.00 - - - - - - - - - 15.85 -
2771.46 324.72 -10.06 372 2777.25 roll -1.25 - - 1836.75 - 3.88 0.153 662.69 -365.4 -77.86 - - 2818.59 - - - - - - - - - 15.77 -
2826.48 330.79 -11.50 383 2831.12 roll -1.25 - - 1837.56 - 3.47 0.050 2118.56 419.6 -77.86 - - 2819.50 - - - - - - - - - 15.86 -
3136.58 361.76 -9.54 415 3137.91 no move -1.25 - - 1836.88 - - - 2119.00 - -77.86 - - 2815.50 - - - - - - - - - - -
3436.57 391.59 -10.55 445 3437.90 no move -1.25 - - 1837.12 - - - 2118.75 - -77.86 - - 2817.59 - - - - - - - - - - -
3736.64 420.62 -10.04 475 3742.48 roll -1.25 - - 1836.94 - 4.01 0.154 663.44 -362.9 -77.86 - - 2816.84 - - - - - - - - - 15.77 -
3771.67 424.35 -10.65 482 3777.25 roll -1.25 - - 1836.62 - 3.48 0.052 2120.69 418.8 -77.86 - - 2817.28 - - - - - - - - - 15.87 -
4076.72 453.24 -9.41 513 4082.56 roll -1.25 - - 1837.25 - 4.01 0.156 663.50 -363.4 -77.86 - - 2816.09 - - - - - - - - - 15.76 -
4111.75 456.85 -10.32 520 4117.33 roll -1.25 - - 1837.12 - 3.47 0.052 2119.25 419.5 -77.86 - - 2818.53 - - - - - - - - - 15.87 -
4416.80 483.88 -7.85 551 4422.43 roll -1.25 - - 1836.69 - 3.62 0.118 3474.12 374.3 -77.86 - - 2815.00 - - - - - - - - - 15.83 -
4451.82 487.58 -10.57 558 4456.39 roll -1.25 - - 1837.31 - 3.32 0.060 2081.19 -419.6 -77.86 - - 2818.09 - - - - - - - - - 15.87 -
4761.88 512.74 -7.75 590 4767.55 roll -1.25 - - 1837.38 - 3.92 0.160 664.25 -361.5 -77.86 - - 2813.78 - - - - - - - - - 15.75 -
4796.90 516.19 -9.43 597 4801.48 roll -1.25 - - 1837.00 - 3.47 0.052 2116.50 418.5 -77.86 - - 2817.31 - - - - - - - - - 15.87 -
5106.96 541.89 -8.15 629 5112.58 roll -1.25 - - 1837.38 - 3.62 0.118 3474.50 375.1 -77.86 - - 2815.97 - - - - - - - - - 15.82 -
5155.83 546.69 -9.47 639 5162.70 roll -1.25 - - 1835.69 - 3.33 0.061 2081.69 -418.3 -77.86 - - 2817.75 - - - - - - - - - 15.86 -
5462.03 571.98 -8.83 670 5467.84 roll -1.25 - - 1836.31 - 3.91 0.162 663.19 -362.8 -77.86 - - 2816.69 - - - - - - - - - 15.74 -
5507.05 576.57 -10.77 679 5512.63 roll -1.25 - - 1836.75 - 3.45 0.053 2116.62 421.3 -77.86 - - 2814.00 - - - - - - - - - 15.87 -
5812.07 602.49 -9.00 710 5817.70 roll -1.25 - - 1836.81 - 3.61 0.120 3473.62 375.9 -77.86 - - 2816.88 - - - - - - - - - 15.81 -
5850.94 605.79 -8.26 718 5857.81 roll -1.25 - - 1837.31 - 3.32 0.062 2082.31 -419.1 -77.86 - - 2815.69 - - - - - - - - - 15.86 -
6157.12 632.67 -8.76 749 6162.94 roll -1.25 - - 1836.81 - 3.92 0.163 663.12 -362.0 -77.86 - - 2811.91 - - - - - - - - - 15.73 -
6212.14 637.93 -10.41 760 6217.74 roll -1.25 - - 1836.50 - 3.47 0.055 2117.31 419.1 -77.86 - - 2816.00 - - - - - - - - - 15.87 -
6517.17 663.86 -8.17 791 6518.50 no move -1.25 - - 1836.62 - - - 2117.56 - -77.86 - - 2814.09 - - - - - - - - - - -
6817.21 688.36 -8.16 821 6822.83 roll -1.25 - - 1836.88 - 3.63 0.125 3474.00 373.7 -77.86 - - 2814.06 - - - - - - - - - 15.80 -
6852.22 691.51 -7.62 828 6856.79 roll -1.25 - - 1837.25 - 3.32 0.064 2084.50 -418.5 -77.86 - - 2813.84 - - - - - - - - - 15.86 -
7162.25 716.50 -7.66 860 7168.06 roll -1.25 - - 1836.94 - 3.97 0.169 663.38 -358.0 -77.86 - - 2813.78 - - - - - - - - - 15.72 -
7227.27 722.08 -9.02 873 7232.85 roll -1.25 - - 1837.50 - 3.48 0.057 2116.69 417.6 -77.86 - - 2813.47 - - - - - - - - - 15.86 -
7532.30 746.28 -8.44 904 7537.91 roll -1.25 - - 1836.62 - 3.60 0.122 3474.19 377.1 -77.86 - - 2815.22 - - - - - - - - - 15.79 -
7581.16 750.08 -8.45 914 7588.04 roll -1.25 - - 1837.12 - 3.33 0.064 2082.38 -418.0 -77.86 - - 2814.09 - - - - - - - - - 15.85 -
7887.37 774.48 -7.48 945 7893.18 roll -1.25 - - 1836.44 - 3.94 0.167 663.69 -360.1 -77.86 - - 2810.78 - - - - - - - - - 15.70 -
7946.36 780.35 -8.57 957 7953.24 roll -1.25 - - 1836.81 - 3.48 0.057 2118.62 418.1 -77.86 - - 2815.25 - - - - - - - - - 15.86 -
8252.41 804.70 -8.02 988 8253.73 no move -1.25 - - 1837.00 - - - 2118.12 - -77.86 - - 2812.69 - - - - - - - - - - -
8552.44 830.29 -7.76 1018 8558.27 roll -1.25 - - 1836.69 - 4.05 0.169 663.44 -359.2 -77.86 - - 2813.09 - - - - - - - - - 15.69 -
8647.46 839.16 -9.53 1037 8653.07 roll -1.25 - - 1836.81 - 3.51 0.060 2115.88 413.8 -77.86 - - 2810.06 - - - - - - - - - 15.86 -
8952.50 863.02 -8.19 1068 8953.83 no move -1.25 - - 1837.25 - - - 2116.38 - -77.86 - - 2811.62 - - - - - - - - - - -
9252.56 887.96 -8.79 1098 9258.26 roll -1.25 - - 1836.94 - 4.05 0.170 662.69 -358.9 -77.86 - - 2811.06 - - - - - - - - - 15.68 -
9307.60 893.01 -8.52 1109 9313.19 roll -1.25 - - 1837.00 - 3.51 0.062 2117.25 414.4 -77.86 - - 2811.81 - - - - - - - - - 15.85 -
9612.65 920.55 -9.33 1140 9618.37 roll -1.25 - - 1836.69 - 4.09 0.172 664.06 -355.3 -77.86 - - 2810.53 - - - - - - - - - 15.68 -
9651.66 924.60 -11.53 1148 9658.68 roll -1.25 - - 1837.12 - 3.52 0.063 2115.88 412.4 -77.86 - - 2811.34 - - - - - - - - - 15.85 -
9957.73 951.89 -9.57 1179 9962.48 roll -1.25 - - 1837.31 - 3.66 0.127 3476.00 371.6 -77.86 - - 2811.56 - - - - - - - - - 15.76 -
10017.76 957.32 -9.28 1191 10022.33 roll -1.25 - - 1836.81 - 3.35 0.067 2085.44 -415.1 -77.86 - - 2813.06 - - - - - - - - - 15.82 -
10327.82 982.98 -8.89 1223 10333.63 roll -1.25 - - 1837.00 - 3.99 0.177 663.62 -356.3 -77.86 - - 2810.81 - - - - - - - - - 15.66 -
10386.83 988.33 -8.91 1235 10393.59 roll -1.25 - - 1836.88 - 3.52 0.065 2115.62 412.5 -77.86 - - 2810.97 - - - - - - - - - 15.84 -
10412 end dive: TARGET_DEPTH_EXCEEDED
10412 begin apogee
10414.09 990.50 -8.36 1238 10485.70 -0.25 1.83 0.152 2078.94 132.3 0.08 0.286 2185.56 874.3 - 68.06 2.266 2501.69 -4.5 0.344 - - - - - - 15.74 15.06 11.85
10487 end apogee: CONTROL_FINISHED_OK
10487 begin climb
10487.75 992.42 - 1245 10573.44 1.25 2.63 0.089 2447.88 140.3 4.18 0.148 736.56 -346.7 77.86 75.64 2.209 2180.88 -4.2 0.330 - - - - - - 15.14 14.75 12.25
10586.39 986.99 4.79 1263 10639.22 1.39 0.19 0.089 2485.38 197.4 3.76 0.055 2217.00 393.7 124.36 46.96 2.138 1990.69 -4.1 0.324 - - - - - - 14.98 14.98 12.13
10942.03 942.54 12.14 1304 10947.61 done 1.39 - - 2485.56 - 3.47 0.129 3473.19 362.0 124.36 - - 1979.09 - - - - - - - - - 15.42 -
10990.88 934.98 15.18 1314 10997.72 done 1.39 - - 2485.69 - 3.16 0.062 2183.81 -408.0 124.36 - - 1980.53 - - - - - - - - - 15.50 -
11297.06 896.68 11.60 1345 11298.40 VBD 1.39 - - 2485.88 - - - 2183.75 - 124.36 - - 1978.53 - - - - - - - - - - -
11597.10 860.85 10.71 1375 11603.04 done 1.39 - - 2485.38 - 3.94 0.148 737.38 -367.1 124.36 - - 1978.56 - - - - - - - - - 15.65 -
11612.11 859.01 12.05 1378 11617.77 done 1.39 - - 2485.94 - 3.58 0.056 2217.50 413.4 124.36 - - 1977.09 - - - - - - - - - 15.72 -
11917.14 823.94 11.22 1409 11922.96 done 1.39 - - 2485.25 - 4.02 0.145 736.38 -368.4 124.36 - - 1977.84 - - - - - - - - - 15.68 -
11942.15 820.22 10.91 1414 11946.89 done 1.39 - - 2486.19 - 3.56 0.055 2219.06 416.5 124.36 - - 1975.62 - - - - - - - - - 15.76 -
12252.18 782.68 12.01 1446 12256.76 done 1.39 - - 2485.56 - 3.42 0.127 3474.44 367.1 124.36 - - 1976.62 - - - - - - - - - 15.73 -
12272.18 780.03 13.63 1450 12276.69 done 1.39 - - 2485.50 - 3.10 0.060 2180.12 -417.5 124.36 - - 1975.06 - - - - - - - - - 15.78 -
12582.21 741.39 11.92 1482 12586.80 done 1.39 - - 2485.25 - 3.52 0.125 3474.88 367.8 124.36 - - 1976.41 - - - - - - - - - 15.74 -
12642.23 733.23 14.60 1494 12646.77 done 1.39 - - 2485.44 - 3.10 0.060 2180.06 -417.7 124.36 - - 1973.97 - - - - - - - - - 15.80 -
12952.26 695.44 11.65 1526 12957.85 done 1.39 - - 2484.56 - 3.51 0.122 3474.50 368.8 124.36 - - 1974.69 - - - - - - - - - 15.71 -
12971.09 692.82 11.68 1530 12977.92 done 1.39 - - 2485.25 - 3.07 0.056 2180.88 -421.4 124.36 - - 1973.44 - - - - - - - - - 15.79 -
13277.28 656.58 11.77 1561 13281.86 done 1.39 - - 2485.69 - 3.48 0.122 3472.56 371.2 124.36 - - 1972.84 - - - - - - - - - 15.75 -
13317.30 651.96 12.30 1569 13321.81 done 1.39 - - 2485.62 - 3.09 0.059 2181.62 -417.8 124.36 - - 1973.69 - - - - - - - - - 15.80 -
13627.33 616.81 11.12 1601 13633.12 done 1.39 - - 2485.38 - 3.85 0.141 735.69 -375.6 124.36 - - 1974.94 - - - - - - - - - 15.73 -
13652.34 613.89 11.49 1606 13657.08 done 1.39 - - 2486.12 - 3.55 0.055 2221.56 418.6 124.36 - - 1972.59 - - - - - - - - - 15.82 -
13962.38 580.38 10.49 1638 13968.18 done 1.39 - - 2486.06 - 3.95 0.138 735.56 -376.2 124.36 - - 1974.53 - - - - - - - - - 15.73 -
13997.41 576.45 11.98 1645 14003.19 done 1.39 - - 2486.25 - 3.54 0.054 2221.44 419.7 124.36 - - 1972.94 - - - - - - - - - 15.82 -
14302.42 543.57 10.45 1676 14306.98 done 1.39 - - 2485.88 - 3.37 0.122 3474.31 371.8 124.36 - - 1972.69 - - - - - - - - - 15.71 -
14326.26 540.60 11.39 1681 14333.08 done 1.39 - - 2485.81 - 3.06 0.057 2178.94 -423.3 124.36 - - 1974.22 - - - - - - - - - 15.81 -
14632.45 508.99 10.32 1712 14638.03 done 1.39 - - 2486.31 - 3.45 0.118 3473.25 375.2 124.36 - - 1970.03 - - - - - - - - - 15.70 -
14651.29 506.54 10.18 1716 14658.11 done 1.39 - - 2485.88 - 3.05 0.056 2179.69 -424.1 124.36 - - 1973.94 - - - - - - - - - 15.80 -
14957.49 477.90 9.88 1747 14962.20 done 1.39 - - 2485.62 - 3.44 0.117 3473.12 376.0 124.36 - - 1970.22 - - - - - - - - - 15.76 -
14977.49 475.91 9.11 1751 14982.12 done 1.39 - - 2486.12 - 3.04 0.055 2178.44 -425.9 124.36 - - 1972.69 - - - - - - - - - 15.81 -
15287.52 446.05 10.17 1783 15292.11 done 1.39 - - 2486.56 - 3.45 0.117 3474.44 375.7 124.36 - - 1971.00 - - - - - - - - - 15.76 -
15307.56 443.68 10.70 1787 15312.05 done 1.39 - - 2486.06 - 3.05 0.055 2178.44 -424.9 124.36 - - 1970.97 - - - - - - - - - 15.81 -
15617.59 412.17 10.23 1819 15622.17 done 1.39 - - 2486.88 - 3.46 0.116 3476.00 375.0 124.36 - - 1971.22 - - - - - - - - - 15.76 -
15647.83 409.04 10.58 1825 15652.11 done 1.39 - - 2487.19 - 3.07 0.055 2178.50 -422.6 124.36 - - 1972.25 - - - - - - - - - 15.82 -
15957.67 380.80 8.46 1857 15963.25 done 1.39 - - 2486.31 - 3.45 0.114 3471.94 374.9 124.36 - - 1971.59 - - - - - - - - - 15.75 -
16042.72 371.90 10.31 1874 16047.22 done 1.39 - - 2486.44 - 3.06 0.055 2178.81 -422.6 124.36 - - 1973.22 - - - - - - - - - 15.81 -
16352.76 344.51 8.05 1906 16354.09 VBD 1.39 - - 2486.62 - - - 2178.12 - 124.36 - - 1971.38 - - - - - - - - - - -
16652.82 316.14 10.28 1936 16657.41 done 1.39 - - 2486.25 - 3.45 0.115 3473.81 375.6 124.36 - - 1971.16 - - - - - - - - - 15.75 -
16692.85 311.68 11.17 1944 16697.36 done 1.39 - - 2486.31 - 3.06 0.055 2178.19 -423.4 124.36 - - 1970.84 - - - - - - - - - 15.82 -
17002.91 282.19 8.60 1976 17004.24 VBD 1.39 - - 2486.56 - - - 2178.56 - 124.36 - - 1971.34 - - - - - - - - - - -
17302.96 256.46 7.61 2006 17304.30 VBD 1.39 - - 2486.25 - - - 2178.94 - 124.36 - - 1971.31 - - - - - - - - - - -
17603.01 232.41 7.71 2036 17608.60 done 1.39 - - 2486.50 - 3.48 0.115 3474.44 372.3 124.36 - - 1971.34 - - - - - - - - - 15.64 -
17688.05 225.26 8.75 2053 17692.56 done 1.39 - - 2486.75 - 3.08 0.055 2176.94 -421.3 124.36 - - 1970.72 - - - - - - - - - 15.81 -
17998.08 201.32 7.88 2085 18003.89 done 1.39 - - 2486.38 - 3.85 0.134 735.31 -374.4 124.36 - - 1969.66 - - - - - - - - - 15.71 -
18103.11 190.99 10.24 2106 18107.85 done 1.39 - - 2487.19 - 3.54 0.050 2224.62 420.7 124.36 - - 1971.78 - - - - - - - - - 15.81 -
18413.15 165.52 8.23 2138 18417.71 done 1.39 - - 2486.06 - 3.35 0.115 3472.62 372.5 124.36 - - 1972.44 - - - - - - - - - 15.64 -
18573.18 151.19 8.98 2170 18577.70 done 1.39 - - 2485.81 - 3.07 0.053 2176.94 -422.0 124.36 - - 1972.31 - - - - - - - - - 15.79 -
18883.23 130.06 5.49 2202 18918.57 done 1.50 - - 2487.12 - 3.51 0.114 3473.69 369.4 160.96 29.05 1.237 1842.72 -4.5 0.081 - - - - - - - 15.58 11.99
18983.23 122.23 8.90 2222 18987.77 roll 1.50 - - 2487.19 - 3.11 0.053 2176.69 -417.0 160.96 - - 1839.88 - - - - - - - - - 15.62 -
19288.28 98.90 8.38 2254 19294.08 roll 1.50 - - 2486.69 - 3.85 0.132 735.81 -374.3 160.96 - - 1838.03 - - - - - - - - - 15.62 -
19308.29 97.17 8.40 2258 19314.03 roll 1.50 - - 2486.94 - 3.56 0.048 2227.69 419.1 160.96 - - 1838.81 - - - - - - - - - 15.66 -
19493.34 84.90 5.95 2295 19525.79 1.59 0.25 0.086 2532.25 181.2 3.97 0.129 735.38 -375.9 190.86 26.39 1.172 1721.62 -4.4 0.056 - - - - - - 15.70 15.51 12.15
19528.61 82.17 7.67 2302 19534.30 roll 1.59 - - 2533.62 - 3.56 0.046 2226.06 418.7 190.86 - - 1720.75 - - - - - - - - - 15.60 -
19713.62 67.24 8.33 2339 19719.47 roll 1.59 - - 2533.56 - 3.38 0.111 3474.25 369.3 190.86 - - 1718.00 - - - - - - - - - 15.51 -
19753.63 63.59 9.12 2347 19759.43 roll 1.59 - - 2534.19 - 3.08 0.049 2175.25 -421.8 190.86 - - 1716.38 - - - - - - - - - 15.62 -
19938.72 59.06 1.57 2384 20022.23 1.87 0.39 0.074 2601.81 173.4 3.95 0.130 735.50 -364.5 283.36 77.46 1.159 1343.41 -4.8 0.043 - - - - - - 15.64 15.20 12.25
20030.29 56.50 1.28 2402 20117.47 2.16 0.41 0.067 2672.19 171.7 3.65 0.045 2228.19 409.0 379.96 79.22 1.112 950.50 -5.0 0.044 - - - - - - 15.29 15.32 12.23
20295.39 19.28 17.40 2455 20301.26 roll 2.16 - - 2672.25 - 4.07 0.130 736.88 -366.4 379.96 - - 945.56 - - - - - - - - - 15.41 -
20325.31 13.67 19.18 2461 20331.08 roll 2.16 - - 2671.62 - 3.64 0.050 2222.19 408.1 379.96 - - 945.28 - - - - - - - - - 15.44 -
20390 end climb: SURFACE_DEPTH_REACHED
20390 begin surface coast
20400 end surface coast: CONTROL_FINISHED_OK
20400 begin surface
SM 1.05 - - - - 175.6 39.14 1.063 767.1 19.6 16.74 0.064 767.9 45.9 - 0.34 0.088 766.2 2242.8 -2.735 - - 12.23 15.47 15.54 -