NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 52 * Raw log
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• Previous call tries 1 • 19.67 of 350.00 AH used of 24V (94.38% remains)
• Surface angle -67.8 deg, depth 0.86 m • Intended pitch -18.3 deg, speed -8.049 cm/s
VBD pumped to 425.02 (SM_CC=425)
• GPS1 time: 32 s
• GPS2 time: 2 s • Transponder ping count: 0
• 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
6.35 - - - 69.36 VBD -1.21 - - 179.06 - - - 2127.38 - -97.32 62.47 0.005 2261.91 - - - - - - - - - - 15.68
69.61 3.78 -5.25 12 106.73 -1.21 13.37 0.282 1847.50 124.8 3.85 0.170 661.50 -380.7 -97.32 14.09 0.007 2895.34 45.0 -4.043 - - - - - - 15.63 15.65 15.70
199.43 43.18 -28.86 38 205.14 roll -1.21 - - 1847.75 - 3.42 0.063 2134.12 430.6 -97.32 - - 2896.22 - - - - - - - - - 15.76 -
384.48 74.01 -13.86 75 390.25 roll -1.21 - - 1847.31 - 3.84 0.163 660.06 -383.9 -97.32 - - 2896.97 - - - - - - - - - 15.77 -
574.53 104.84 -15.05 113 579.07 roll -1.21 - - 1847.50 - 3.38 0.061 2134.31 436.2 -97.32 - - 2896.88 - - - - - - - - - 15.87 -
884.56 139.14 -10.74 145 889.23 roll -1.21 - - 1847.44 - 3.26 0.127 3477.88 412.1 -97.32 - - 2899.81 - - - - - - - - - 15.91 -
1064.59 159.97 -12.94 181 1069.12 roll -1.21 - - 1846.81 - 3.29 0.071 2093.81 -420.7 -97.32 - - 2899.81 - - - - - - - - - 15.94 -
1374.62 193.28 -11.34 213 1380.38 roll -1.21 - - 1846.88 - 3.78 0.195 662.62 -378.6 -97.32 - - 2898.72 - - - - - - - - - 15.94 -
1453.56 203.98 -14.28 229 1460.34 roll -1.21 - - 1846.81 - 3.41 0.084 2128.44 429.9 -97.32 - - 2899.69 - - - - - - - - - 15.98 -
1759.68 238.15 -11.34 260 1761.01 no move -1.21 - - 1847.38 - - - 2128.56 - -97.32 - - 2899.00 - - - - - - - - - - -
2059.75 272.62 -11.73 290 2065.52 roll -1.21 - - 1847.25 - 3.89 0.198 662.38 -376.9 -97.32 - - 2897.66 - - - - - - - - - 15.99 -
2124.78 281.33 -13.18 303 2129.46 roll -1.21 - - 1847.44 - 3.37 0.066 2134.06 436.7 -97.32 - - 2897.91 - - - - - - - - - 16.04 -
2434.88 316.43 -11.29 335 2436.21 no move -1.21 - - 1847.31 - - - 2134.38 - -97.32 - - 2897.84 - - - - - - - - - - -
2734.89 350.07 -11.46 365 2740.66 roll -1.21 - - 1847.00 - 3.87 0.181 662.44 -380.3 -97.32 - - 2895.19 - - - - - - - - - 16.02 -
2803.90 359.06 -12.98 379 2810.60 roll -1.21 - - 1847.56 - 3.37 0.070 2133.00 436.4 -97.32 - - 2896.62 - - - - - - - - - 16.07 -
3109.98 392.40 -10.99 410 3111.30 no move -1.21 - - 1847.38 - - - 2132.62 - -97.32 - - 2897.06 - - - - - - - - - - -
3410.04 424.02 -10.41 440 3415.82 roll -1.21 - - 1847.06 - 3.88 0.186 662.62 -378.9 -97.32 - - 2894.12 - - - - - - - - - 16.04 -
3445.06 428.24 -11.66 447 3449.74 roll -1.21 - - 1847.69 - 3.38 0.072 2129.81 434.1 -97.32 - - 2895.75 - - - - - - - - - 16.08 -
3755.12 459.53 -9.92 479 3760.89 roll -1.21 - - 1847.56 - 3.84 0.186 661.44 -382.4 -97.32 - - 2895.16 - - - - - - - - - 16.05 -
3854.16 471.84 -12.62 499 3860.85 roll -1.21 - - 1846.25 - 3.38 0.075 2131.62 435.0 -97.32 - - 2897.34 - - - - - - - - - 16.09 -
4160.20 503.03 -10.26 530 4161.53 no move -1.21 - - 1847.38 - - - 2132.62 - -97.32 - - 2894.22 - - - - - - - - - - -
4460.24 533.17 -10.62 560 4466.01 roll -1.21 - - 1847.06 - 3.85 0.191 662.56 -381.8 -97.32 - - 2892.81 - - - - - - - - - 16.07 -
4539.31 542.09 -11.10 576 4545.94 roll -1.21 - - 1846.00 - 3.38 0.078 2127.62 433.4 -97.32 - - 2894.88 - - - - - - - - - 16.11 -
4845.29 572.68 -10.28 607 4849.96 roll -1.21 - - 1847.25 - 3.28 0.146 3475.56 411.0 -97.32 - - 2891.88 - - - - - - - - - 16.10 -
4895.30 578.42 -11.65 617 4899.83 roll -1.21 - - 1846.19 - 3.25 0.079 2093.19 -425.3 -97.32 - - 2894.41 - - - - - - - - - 16.11 -
5205.33 608.24 -9.53 649 5211.11 roll -1.21 - - 1847.31 - 3.75 0.197 663.69 -381.2 -97.32 - - 2889.03 - - - - - - - - - 16.07 -
5274.36 616.43 -11.22 663 5281.03 roll -1.21 - - 1847.19 - 3.38 0.078 2128.44 433.4 -97.32 - - 2892.03 - - - - - - - - - 16.12 -
5580.38 644.39 -8.85 694 5581.71 no move -1.21 - - 1847.50 - - - 2128.94 - -97.32 - - 2888.88 - - - - - - - - - - -
5880.41 671.05 -8.76 724 5886.19 roll -1.21 - - 1846.88 - 3.87 0.195 662.38 -379.0 -97.32 - - 2888.62 - - - - - - - - - 16.08 -
5965.48 680.22 -11.47 741 5969.98 roll -1.21 - - 1847.06 - 3.39 0.081 2128.44 432.5 -97.32 - - 2889.91 - - - - - - - - - 16.13 -
6275.47 707.91 -8.73 773 6279.99 roll -1.21 - - 1846.94 - 3.27 0.149 3474.56 411.7 -97.32 - - 2890.03 - - - - - - - - - 16.11 -
6319.34 712.22 -10.93 782 6326.15 roll -1.21 - - 1847.12 - 3.27 0.081 2093.19 -422.4 -97.32 - - 2889.50 - - - - - - - - - 16.13 -
6625.51 738.75 -7.94 813 6631.26 roll -1.21 - - 1846.75 - 3.77 0.202 662.06 -379.6 -97.32 - - 2889.44 - - - - - - - - - 16.08 -
6720.52 749.13 -10.03 832 6725.10 roll -1.21 - - 1847.31 - 3.38 0.083 2128.19 433.8 -97.32 - - 2888.81 - - - - - - - - - 16.13 -
7030.56 776.37 -9.24 864 7035.09 roll -1.21 - - 1847.19 - 3.29 0.151 3476.44 409.8 -97.32 - - 2889.72 - - - - - - - - - 16.12 -
7060.56 779.48 -9.90 870 7065.10 roll -1.21 - - 1847.19 - 3.28 0.080 2095.75 -420.9 -97.32 - - 2888.78 - - - - - - - - - 16.13 -
7370.60 807.71 -8.95 902 7376.35 roll -1.21 - - 1847.06 - 3.78 0.205 663.62 -378.9 -97.32 - - 2887.25 - - - - - - - - - 16.08 -
7455.66 817.43 -12.61 919 7460.16 roll -1.21 - - 1846.62 - 3.39 0.085 2126.69 431.6 -97.32 - - 2889.03 - - - - - - - - - 16.13 -
7765.65 845.65 -8.81 951 7766.98 no move -1.21 - - 1847.62 - - - 2126.38 - -97.32 - - 2886.09 - - - - - - - - - - -
8065.69 871.31 -8.47 981 8067.02 no move -1.21 - - 1847.38 - - - 2126.88 - -97.32 - - 2888.12 - - - - - - - - - - -
8365.75 897.24 -7.26 1011 8371.40 roll -1.21 - - 1847.00 - 3.90 0.205 663.19 -375.3 -97.32 - - 2886.28 - - - - - - - - - 16.09 -
8410.78 901.34 -9.10 1020 8415.38 roll -1.21 - - 1847.56 - 3.40 0.087 2127.12 430.6 -97.32 - - 2888.28 - - - - - - - - - 16.14 -
8720.84 928.68 -9.37 1052 8726.48 roll -1.21 - - 1847.06 - 3.86 0.205 662.56 -379.4 -97.32 - - 2886.31 - - - - - - - - - 16.09 -
8755.86 932.21 -10.08 1059 8760.42 roll -1.21 - - 1847.38 - 3.42 0.087 2126.38 428.0 -97.32 - - 2887.16 - - - - - - - - - 16.13 -
9065.92 957.45 -7.81 1091 9067.25 no move -1.21 - - 1847.19 - - - 2126.38 - -97.32 - - 2884.75 - - - - - - - - - - -
9365.99 980.64 -7.08 1121 9367.31 no move -1.21 - - 1847.31 - - - 2126.81 - -97.32 - - 2886.69 - - - - - - - - - - -
9496 end dive: TARGET_DEPTH_EXCEEDED
9496 begin apogee
9497.15 990.52 -6.71 1134 9579.96 -0.25 1.62 0.165 2080.69 144.1 0.06 0.355 2135.44 143.8 - 79.75 2.300 2496.03 -4.9 0.351 - - - - - - 16.09 15.51 13.23
9587 end apogee: CONTROL_FINISHED_OK
9588 begin climb
9587.23 992.32 - 1142 9682.53 1.21 2.38 0.104 2436.38 149.4 - - 2134.88 - 97.32 90.06 2.235 2102.94 -4.4 0.323 - - - - - - 15.56 - 12.86
9980.17 959.44 9.91 1190 9984.72 done 1.21 - - 2435.81 - 3.40 0.150 3473.94 393.8 97.32 - - 2089.88 - - - - - - - - - 15.62 -
10054.06 950.53 11.18 1205 10061.01 done 1.21 - - 2435.94 - 3.32 0.084 2137.00 -402.7 97.32 - - 2088.03 - - - - - - - - - 15.68 -
10360.23 919.89 10.09 1236 10364.77 done 1.21 - - 2435.94 - 3.37 0.151 3474.06 396.8 97.32 - - 2085.44 - - - - - - - - - 15.79 -
10370.23 918.99 11.14 1238 10374.75 done 1.21 - - 2436.25 - 3.28 0.081 2134.81 -408.3 97.32 - - 2087.66 - - - - - - - - - 15.80 -
10680.26 887.77 10.09 1270 10684.80 done 1.21 - - 2436.50 - 3.35 0.150 3474.69 400.0 97.32 - - 2084.59 - - - - - - - - - 15.86 -
10710.27 884.44 11.01 1276 10714.80 done 1.21 - - 2435.62 - 3.26 0.081 2134.69 -411.0 97.32 - - 2085.38 - - - - - - - - - 15.88 -
11020.31 855.32 9.47 1308 11024.86 done 1.21 - - 2437.06 - 3.34 0.149 3475.88 401.6 97.32 - - 2082.72 - - - - - - - - - 15.92 -
11064.21 850.32 11.66 1317 11071.13 done 1.21 - - 2436.56 - 3.22 0.080 2134.62 -416.5 97.32 - - 2083.41 - - - - - - - - - 15.93 -
11370.35 821.45 9.16 1348 11374.90 done 1.21 - - 2436.19 - 3.32 0.149 3475.75 404.0 97.32 - - 2082.12 - - - - - - - - - 15.96 -
11410.36 817.00 11.11 1356 11414.88 done 1.21 - - 2435.75 - 3.18 0.077 2133.81 -422.0 97.32 - - 2084.28 - - - - - - - - - 15.96 -
11720.40 787.23 9.84 1388 11726.17 done 1.21 - - 2434.38 - 3.81 0.194 687.19 -379.7 97.32 - - 2083.62 - - - - - - - - - 15.94 -
11735.40 786.09 9.02 1391 11740.09 done 1.21 - - 2436.62 - 3.43 0.081 2170.44 432.4 97.32 - - 2081.34 - - - - - - - - - 16.00 -
12045.43 757.21 8.49 1423 12049.94 done 1.21 - - 2437.31 - 3.19 0.149 3474.38 408.8 97.32 - - 2081.12 - - - - - - - - - 16.00 -
12105.45 751.12 9.48 1435 12109.97 done 1.21 - - 2437.56 - 3.20 0.079 2133.00 -419.2 97.32 - - 2081.34 - - - - - - - - - 16.02 -
12415.48 723.81 9.11 1467 12416.81 VBD 1.21 - - 2437.75 - - - 2133.25 - 97.32 - - 2080.28 - - - - - - - - - - -
12715.51 698.01 8.27 1497 12716.84 VBD 1.21 - - 2437.12 - - - 2133.06 - 97.32 - - 2080.28 - - - - - - - - - - -
13015.54 673.39 7.55 1527 13020.09 done 1.21 - - 2437.25 - 3.31 0.147 3473.81 405.1 97.32 - - 2080.59 - - - - - - - - - 16.05 -
13045.55 670.52 8.33 1533 13050.07 done 1.21 - - 2437.56 - 3.19 0.076 2133.00 -420.3 97.32 - - 2079.41 - - - - - - - - - 16.06 -
13355.59 644.37 9.04 1565 13360.12 done 1.21 - - 2437.06 - 3.29 0.143 3474.44 407.7 97.32 - - 2079.06 - - - - - - - - - 16.05 -
13375.59 642.80 8.42 1569 13380.10 done 1.21 - - 2437.38 - 3.14 0.074 2131.94 -427.5 97.32 - - 2080.03 - - - - - - - - - 16.06 -
13685.62 615.38 9.45 1601 13686.96 VBD 1.21 - - 2436.81 - - - 2132.75 - 97.32 - - 2078.09 - - - - - - - - - - -
13985.66 590.71 7.83 1631 13990.19 done 1.21 - - 2437.12 - 3.29 0.145 3473.19 407.4 97.32 - - 2079.09 - - - - - - - - - 16.07 -
14085.75 582.06 8.37 1651 14090.21 done 1.21 - - 2437.94 - 3.16 0.077 2132.06 -424.4 97.32 - - 2079.34 - - - - - - - - - 16.08 -
14395.77 558.01 8.39 1683 14400.32 done 1.21 - - 2437.88 - 3.28 0.144 3474.81 409.4 97.32 - - 2078.75 - - - - - - - - - 16.08 -
14435.78 554.73 8.19 1691 14440.43 done 1.21 - - 2436.00 - 3.13 0.075 2130.50 -429.5 97.32 - - 2081.03 - - - - - - - - - 16.09 -
14745.86 534.17 6.35 1723 14750.37 done 1.24 - - 2437.44 - 3.28 0.141 3475.75 410.1 97.32 - - 2078.50 - - - - - - - - - 16.08 -
14795.86 530.35 7.64 1733 14800.38 done 1.24 - - 2437.44 - 3.14 0.075 2130.06 -428.6 97.32 - - 2078.16 - - - - - - - - - 16.10 -
15105.94 512.17 5.44 1765 15150.83 1.38 0.23 0.102 2482.56 196.2 3.34 0.143 3475.62 402.9 144.46 38.24 1.728 1909.00 -4.4 0.218 - - - - - - 16.08 15.82 13.23
15169.80 507.11 7.75 1778 15176.72 roll 1.38 - - 2482.88 - 3.18 0.072 2132.00 -422.5 144.46 - - 1908.66 - - - - - - - - - 15.88 -
15475.99 477.79 10.30 1809 15480.54 done 1.38 - - 2482.50 - 3.33 0.141 3475.69 403.5 144.46 - - 1902.41 - - - - - - - - - 15.93 -
15526.01 472.84 10.85 1819 15530.55 done 1.38 - - 2482.94 - 3.19 0.075 2130.38 -421.7 144.46 - - 1902.12 - - - - - - - - - 15.95 -
15836.07 440.80 10.64 1851 15840.62 done 1.38 - - 2482.62 - 3.31 0.139 3475.38 406.3 144.46 - - 1901.44 - - - - - - - - - 15.97 -
15866.12 437.22 11.93 1857 15870.59 done 1.38 - - 2483.12 - 3.17 0.072 2130.88 -424.1 144.46 - - 1901.22 - - - - - - - - - 15.97 -
16176.15 405.33 10.40 1889 16180.70 done 1.38 - - 2482.62 - 3.31 0.138 3476.44 406.5 144.46 - - 1900.19 - - - - - - - - - 15.99 -
16186.15 404.69 9.79 1891 16190.68 done 1.38 - - 2483.62 - 3.16 0.068 2131.00 -425.8 144.46 - - 1900.69 - - - - - - - - - 16.00 -
16496.21 373.44 9.96 1923 16500.73 done 1.38 - - 2483.06 - 3.30 0.138 3475.81 407.5 144.46 - - 1899.81 - - - - - - - - - 16.01 -
16550.09 367.20 12.08 1934 16556.87 done 1.38 - - 2483.00 - 3.17 0.072 2129.75 -424.6 144.46 - - 1900.19 - - - - - - - - - 16.02 -
16856.26 337.03 9.39 1965 16857.59 VBD 1.38 - - 2483.00 - - - 2130.00 - 144.46 - - 1898.91 - - - - - - - - - - -
17156.30 309.36 8.74 1995 17162.06 done 1.38 - - 2482.62 - 3.70 0.170 685.88 -390.3 144.46 - - 1898.59 - - - - - - - - - 16.02 -
17215.31 302.49 10.94 2007 17222.12 done 1.38 - - 2482.62 - 3.39 0.066 2174.75 439.2 144.46 - - 1900.41 - - - - - - - - - 16.04 -
17521.33 274.57 9.56 2038 17525.85 done 1.38 - - 2483.44 - 3.16 0.139 3474.00 411.2 144.46 - - 1898.97 - - - - - - - - - 16.05 -
17551.34 271.76 9.70 2044 17555.86 done 1.38 - - 2482.94 - 3.11 0.069 2128.81 -432.5 144.46 - - 1899.47 - - - - - - - - - 16.06 -
17861.59 245.12 8.51 2076 17862.93 VBD 1.38 - - 2483.62 - - - 2129.44 - 144.46 - - 1897.50 - - - - - - - - - - -
18161.41 218.93 8.83 2106 18162.74 VBD 1.38 - - 2483.69 - - - 2129.19 - 144.46 - - 1899.12 - - - - - - - - - - -
18461.46 193.40 8.28 2136 18462.79 VBD 1.38 - - 2483.31 - - - 2129.12 - 144.46 - - 1898.97 - - - - - - - - - - -
18761.50 170.37 6.77 2166 18766.22 done 1.41 - - 2484.38 - 3.64 0.165 686.75 -396.3 144.46 - - 1897.66 - - - - - - - - - 16.04 -
18901.50 159.16 8.13 2194 18906.05 done 1.41 - - 2483.88 - 3.38 0.066 2176.00 440.6 144.46 - - 1898.75 - - - - - - - - - 16.06 -
19211.57 143.06 4.91 2226 19263.31 1.58 0.23 0.103 2528.56 194.3 3.18 0.136 3474.44 408.3 201.26 45.62 1.308 1679.16 -4.8 0.088 - - - - - - 16.07 15.83 13.24
19265.41 139.59 6.92 2235 19272.19 roll 1.60 - - 2529.62 - 3.15 0.065 2129.69 -426.9 201.26 - - 1677.09 - - - - - - - - - 15.86 -
19571.60 114.77 6.34 2266 19572.93 VBD 1.64 - - 2530.00 - - - 2130.12 - 201.26 - - 1671.38 - - - - - - - - - - -
19871.63 97.15 5.35 2301 19918.19 1.78 0.26 0.103 2576.88 180.3 3.31 0.132 3473.81 405.9 250.01 39.13 1.224 1480.97 -4.9 0.064 - - - - - - 15.96 15.77 13.17
20141.66 73.08 10.41 2355 20147.32 roll 1.78 - - 2579.38 - 3.17 0.070 2129.25 -424.2 250.01 - - 1474.72 - - - - - - - - - 15.84 -
20326.76 57.89 7.01 2392 20332.50 roll 1.80 - - 2577.44 - 3.68 0.163 686.81 -392.0 250.01 - - 1474.81 - - - - - - - - - 15.86 -
20406.96 49.53 11.40 2408 20412.47 roll 1.80 - - 2578.69 - 3.45 0.065 2175.81 431.6 250.01 - - 1473.50 - - - - - - - - - 15.91 -
20591.87 44.80 1.45 2445 20689.48 2.16 0.55 0.087 2669.62 165.3 3.27 0.130 3474.31 397.1 369.40 92.39 1.154 993.78 -5.2 0.034 - - - - - - 15.92 15.56 13.07
20912.24 23.97 9.62 2509 20917.91 roll 2.16 - - 2670.38 - 3.23 0.065 2129.00 -416.5 369.40 - - 988.81 - - - - - - - - - 15.73 -
21097.29 7.58 9.60 2546 21102.95 roll 2.16 - - 2670.50 - 3.33 0.124 3475.56 404.4 369.40 - - 988.56 - - - - - - - - - 15.79 -
21153 end climb: SURFACE_DEPTH_REACHED
21153 begin surface coast
21168 end surface coast: CONTROL_FINISHED_OK
21168 begin surface
SM 0.40 - - - - 180.2 - 0.010 767.3 - 15.82 0.075 766.2 48.4 - 3.26 0.063 768.5 234.7 -0.152 - - 30.36 15.79 15.82 -