NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 55 * Raw log
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• Previous call tries 2 • 20.67 of 350.00 AH used of 24V (94.10% remains)
• Surface angle -63.4 deg, depth 0.78 m • Intended pitch -18.3 deg, speed -8.049 cm/s
• VBD pumped to 425.02 (SM_CC=425)
• GPS1 time: 45 s
• GPS2 time: 4 s • Transponder ping count: 1
• 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
6.36 - - - 64.28 VBD -1.21 - - 177.94 - - - 2372.81 - -97.32 57.42 0.005 2137.62 - - - - - - - - - - 15.70
64.52 3.29 -4.87 11 106.06 -1.21 13.38 0.276 1846.69 124.7 2.72 0.133 3475.56 405.4 -97.32 18.67 0.006 2895.12 40.6 -3.710 - - - - - - 15.64 15.66 15.71
328.83 63.15 -14.93 64 334.38 roll -1.21 - - 1846.75 - 2.60 0.055 2375.81 -423.0 -97.32 - - 2895.56 - - - - - - - - - 15.81 -
513.91 87.98 -13.62 101 515.24 no move -1.21 - - 1846.38 - - - 2375.06 - -97.32 - - 2896.09 - - - - - - - - - - -
699.03 112.83 -11.40 128 704.73 roll -1.21 - - 1846.06 - 3.77 0.161 935.56 -381.8 -97.32 - - 2896.38 - - - - - - - - - 15.86 -
754.00 118.98 -11.51 139 758.56 roll -1.21 - - 1846.50 - 3.47 0.082 2417.62 427.1 -97.32 - - 2897.56 - - - - - - - - - 15.86 -
1064.06 152.01 -10.35 171 1068.61 roll -1.21 - - 1846.56 - 2.59 0.136 3475.94 408.6 -97.32 - - 2897.81 - - - - - - - - - 15.92 -
1294.15 179.18 -13.05 217 1298.70 roll -1.21 - - 1846.88 - 2.58 0.057 2376.81 -426.0 -97.32 - - 2898.50 - - - - - - - - - 15.97 -
1604.26 213.03 -11.74 249 1609.89 roll -1.21 - - 1845.12 - 3.81 0.171 936.56 -378.0 -97.32 - - 2898.28 - - - - - - - - - 15.96 -
1683.21 223.64 -13.23 265 1689.92 roll -1.21 - - 1846.75 - 3.48 0.090 2416.75 425.3 -97.32 - - 2898.16 - - - - - - - - - 16.00 -
1989.26 260.76 -12.14 296 1994.92 roll -1.21 - - 1845.75 - 3.90 0.170 935.81 -379.7 -97.32 - - 2898.31 - - - - - - - - - 15.98 -
2134.29 279.48 -12.80 325 2138.88 roll -1.21 - - 1846.31 - 3.51 0.095 2416.50 421.8 -97.32 - - 2896.78 - - - - - - - - - 16.03 -
2444.33 314.37 -10.97 357 2449.99 roll -1.21 - - 1846.69 - 3.93 0.175 935.94 -376.7 -97.32 - - 2895.12 - - - - - - - - - 16.00 -
2633.38 337.34 -11.28 395 2640.07 roll -1.21 - - 1845.69 - 3.51 0.099 2413.94 421.1 -97.32 - - 2899.59 - - - - - - - - - 16.06 -
2939.40 369.95 -11.25 426 2945.06 roll -1.21 - - 1846.88 - 3.94 0.179 938.19 -374.6 -97.32 - - 2896.38 - - - - - - - - - 16.02 -
3054.42 383.48 -11.95 449 3059.01 roll -1.21 - - 1846.50 - 3.52 0.102 2413.88 419.2 -97.32 - - 2894.50 - - - - - - - - - 16.06 -
3364.46 416.15 -9.70 481 3370.11 roll -1.21 - - 1846.75 - 3.95 0.181 936.38 -374.1 -97.32 - - 2893.19 - - - - - - - - - 16.03 -
3463.49 427.39 -10.61 501 3470.24 roll -1.21 - - 1846.81 - 3.53 0.104 2415.25 418.9 -97.32 - - 2895.38 - - - - - - - - - 16.08 -
3769.51 458.47 -10.12 532 3775.17 roll -1.21 - - 1846.25 - 3.96 0.183 935.06 -373.8 -97.32 - - 2893.91 - - - - - - - - - 16.04 -
3978.56 482.39 -10.65 574 3985.27 roll -1.21 - - 1846.62 - 3.54 0.107 2413.81 417.7 -97.32 - - 2893.91 - - - - - - - - - 16.09 -
4284.58 513.77 -10.50 605 4290.25 roll -1.21 - - 1846.38 - 3.97 0.187 936.56 -372.1 -97.32 - - 2890.41 - - - - - - - - - 16.05 -
4469.62 534.30 -10.74 642 4475.21 roll -1.21 - - 1846.38 - 3.55 0.111 2414.81 416.4 -97.32 - - 2889.53 - - - - - - - - - 16.10 -
4774.65 563.57 -9.56 673 4780.31 roll -1.21 - - 1846.31 - 3.98 0.189 936.38 -371.5 -97.32 - - 2891.78 - - - - - - - - - 16.06 -
4943.72 581.79 -10.69 707 4950.45 roll -1.21 - - 1846.38 - 3.55 0.112 2411.25 415.5 -97.32 - - 2890.38 - - - - - - - - - 16.11 -
5249.78 608.51 -8.33 738 5255.44 roll -1.21 - - 1845.69 - 4.00 0.191 936.44 -368.7 -97.32 - - 2889.31 - - - - - - - - - 16.06 -
5398.83 623.93 -9.89 768 5405.55 roll -1.21 - - 1845.56 - 3.55 0.113 2411.19 415.4 -97.32 - - 2890.44 - - - - - - - - - 16.11 -
5704.89 652.86 -9.76 799 5710.69 roll -1.21 - - 1846.81 - 4.00 0.193 936.75 -368.6 -97.32 - - 2887.22 - - - - - - - - - 16.07 -
5849.95 668.45 -11.70 828 5855.55 roll -1.21 - - 1847.06 - 3.56 0.115 2413.00 414.7 -97.32 - - 2886.91 - - - - - - - - - 16.12 -
6155.02 696.76 -8.18 859 6160.69 roll -1.21 - - 1845.25 - 4.05 0.196 938.38 -364.1 -97.32 - - 2891.22 - - - - - - - - - 16.07 -
6284.07 710.54 -10.17 885 6290.79 roll -1.21 - - 1845.75 - 3.56 0.117 2410.56 413.5 -97.32 - - 2891.16 - - - - - - - - - 16.12 -
6590.16 737.80 -9.36 916 6595.80 roll -1.21 - - 1845.62 - 4.03 0.197 936.62 -365.7 -97.32 - - 2888.97 - - - - - - - - - 16.07 -
6739.19 753.64 -10.96 946 6745.91 roll -1.21 - - 1846.69 - 3.57 0.119 2411.62 413.2 -97.32 - - 2887.78 - - - - - - - - - 16.13 -
7045.22 781.77 -9.82 977 7050.90 roll -1.21 - - 1844.88 - 4.05 0.199 937.50 -364.0 -97.32 - - 2888.88 - - - - - - - - - 16.07 -
7214.28 798.90 -9.99 1011 7220.98 roll -1.21 - - 1846.56 - 3.55 0.121 2411.25 415.1 -97.32 - - 2889.44 - - - - - - - - - 16.12 -
7520.30 824.47 -8.13 1042 7526.11 roll -1.21 - - 1846.56 - 4.07 0.201 938.69 -361.8 -97.32 - - 2886.72 - - - - - - - - - 16.07 -
7609.32 831.88 -7.71 1060 7616.03 roll -1.21 - - 1846.38 - 3.57 0.120 2410.56 412.3 -97.32 - - 2888.09 - - - - - - - - - 16.13 -
7915.35 855.88 -7.28 1091 7921.02 roll -1.21 - - 1846.50 - 4.07 0.201 938.56 -361.7 -97.32 - - 2885.25 - - - - - - - - - 16.07 -
8020.37 864.26 -7.73 1112 8026.10 roll -1.21 - - 1846.75 - 3.57 0.122 2412.88 413.0 -97.32 - - 2884.94 - - - - - - - - - 16.12 -
8325.41 887.35 -7.87 1143 8331.22 roll -1.21 - - 1846.38 - 4.05 0.205 938.81 -364.0 -97.32 - - 2884.03 - - - - - - - - - 16.07 -
8454.43 897.95 -7.85 1169 8461.15 roll -1.21 - - 1846.19 - 3.59 0.123 2411.56 410.2 -97.32 - - 2887.38 - - - - - - - - - 16.12 -
8760.47 919.65 -7.29 1200 8766.27 roll -1.21 - - 1846.81 - 4.09 0.206 937.06 -360.5 -97.32 - - 2884.53 - - - - - - - - - 16.07 -
8899.50 931.93 -9.62 1228 8906.21 roll -1.21 - - 1846.12 - 3.57 0.126 2410.31 412.7 -97.32 - - 2885.66 - - - - - - - - - 16.12 -
9205.52 954.79 -7.47 1259 9211.33 roll -1.21 - - 1846.62 - 4.03 0.207 937.25 -365.5 -97.32 - - 2882.88 - - - - - - - - - 16.07 -
9324.55 965.35 -7.76 1283 9331.31 roll -1.21 - - 1846.75 - 3.61 0.128 2410.00 408.0 -97.32 - - 2884.72 - - - - - - - - - 16.11 -
9630.59 988.80 -7.50 1314 9636.40 roll -1.21 - - 1846.50 - 4.09 0.209 938.31 -359.8 -97.32 - - 2883.44 - - - - - - - - - 16.06 -
9646 end dive: TARGET_DEPTH_EXCEEDED
9646 begin apogee
9649.81 990.03 -8.05 1317 9731.91 -0.25 1.64 0.169 2080.31 142.6 0.06 0.344 2186.69 20806.3 - 79.75 2.295 2498.31 -4.8 0.347 - - - - - - 16.07 15.50 13.23
9733 end apogee: CONTROL_FINISHED_OK
9733 begin climb
9733.04 991.85 - 1325 9831.43 1.21 2.41 0.105 2435.44 147.4 3.44 0.152 3475.12 374.5 97.32 89.44 2.241 2100.31 -4.4 0.328 - - - - - - 15.52 15.10 12.96
9909.03 977.24 11.77 1360 9915.92 done 1.21 - - 2436.38 - 3.28 0.077 2186.81 -392.8 97.32 - - 2093.78 - - - - - - - - - 15.39 -
10215.17 944.13 10.45 1391 10219.73 done 1.21 - - 2436.06 - 3.31 0.150 3475.25 389.3 97.32 - - 2088.44 - - - - - - - - - 15.67 -
10225.18 943.12 10.12 1393 10229.72 done 1.21 - - 2436.19 - 3.20 0.073 2183.44 -403.7 97.32 - - 2087.56 - - - - - - - - - 15.69 -
10535.22 909.81 10.22 1425 10539.75 done 1.21 - - 2436.38 - 3.28 0.150 3474.44 393.6 97.32 - - 2085.97 - - - - - - - - - 15.79 -
10559.09 907.22 9.11 1430 10565.88 done 1.21 - - 2435.25 - 3.16 0.075 2182.88 -408.7 97.32 - - 2087.38 - - - - - - - - - 15.81 -
10865.26 873.09 11.63 1461 10866.59 VBD 1.21 - - 2436.62 - - - 2183.19 - 97.32 - - 2082.28 - - - - - - - - - - -
11165.30 839.84 11.83 1491 11169.83 done 1.21 - - 2435.81 - 3.27 0.150 3475.75 395.3 97.32 - - 2083.12 - - - - - - - - - 15.91 -
11225.32 832.58 12.28 1503 11229.83 done 1.21 - - 2435.94 - 3.13 0.077 2183.81 -412.8 97.32 - - 2082.38 - - - - - - - - - 15.94 -
11535.35 796.27 11.76 1535 11539.90 done 1.21 - - 2435.25 - 3.24 0.147 3473.88 398.2 97.32 - - 2083.91 - - - - - - - - - 15.95 -
11555.36 794.42 11.43 1539 11560.01 done 1.21 - - 2436.19 - 3.11 0.075 2183.50 -414.9 97.32 - - 2082.88 - - - - - - - - - 15.97 -
11865.40 761.00 10.46 1571 11869.92 done 1.21 - - 2436.25 - 3.21 0.149 3476.12 402.7 97.32 - - 2081.94 - - - - - - - - - 15.98 -
11895.40 757.74 12.44 1577 11899.90 done 1.21 - - 2435.50 - 3.09 0.076 2181.56 -419.0 97.32 - - 2081.81 - - - - - - - - - 16.00 -
12205.44 726.02 9.57 1609 12206.77 VBD 1.21 - - 2436.50 - - - 2182.00 - 97.32 - - 2080.06 - - - - - - - - - - -
12505.47 698.24 9.49 1639 12510.00 done 1.21 - - 2436.19 - 3.22 0.149 3477.06 402.2 97.32 - - 2079.69 - - - - - - - - - 16.02 -
12535.48 695.30 9.36 1645 12539.98 done 1.21 - - 2435.88 - 3.08 0.075 2181.81 -420.5 97.32 - - 2079.72 - - - - - - - - - 16.03 -
12845.52 667.66 8.85 1677 12850.04 done 1.21 - - 2436.38 - 3.22 0.148 3474.69 401.5 97.32 - - 2079.69 - - - - - - - - - 16.03 -
12865.52 665.76 9.03 1681 12870.02 done 1.21 - - 2434.44 - 3.06 0.072 2181.06 -422.8 97.32 - - 2080.53 - - - - - - - - - 16.05 -
13175.56 641.39 7.94 1713 13176.89 VBD 1.21 - - 2436.75 - - - 2181.50 - 97.32 - - 2078.44 - - - - - - - - - - -
13475.60 619.25 6.77 1743 13480.12 done 1.23 - - 2436.06 - 3.22 0.147 3476.75 402.3 97.32 - - 2079.50 - - - - - - - - - 16.05 -
13519.47 615.68 7.93 1752 13526.24 done 1.23 - - 2435.12 - 3.07 0.073 2180.44 -422.3 97.32 - - 2081.41 - - - - - - - - - 16.06 -
13825.64 593.18 6.89 1783 13830.17 done 1.26 - - 2436.38 - 3.21 0.144 3475.00 403.3 97.32 - - 2077.91 - - - - - - - - - 16.06 -
13859.51 589.92 8.00 1790 13866.40 done 1.26 - - 2436.75 - 3.06 0.072 2181.19 -422.8 97.32 - - 2080.66 - - - - - - - - - 16.07 -
14165.70 567.60 7.13 1821 14170.21 done 1.27 - - 2437.62 - 3.20 0.144 3476.88 404.9 97.32 - - 2079.66 - - - - - - - - - 16.07 -
14205.70 563.98 9.03 1829 14210.20 done 1.27 - - 2437.00 - 3.08 0.072 2180.50 -420.9 97.32 - - 2080.66 - - - - - - - - - 16.08 -
14515.76 538.47 7.78 1861 14520.28 done 1.27 - - 2437.06 - 3.18 0.143 3476.94 407.7 97.32 - - 2080.38 - - - - - - - - - 16.07 -
14545.80 535.73 8.21 1867 14550.40 done 1.27 - - 2436.88 - 3.07 0.069 2180.25 -422.4 97.32 - - 2078.56 - - - - - - - - - 16.09 -
14855.84 509.35 8.91 1899 14860.34 done 1.27 - - 2437.69 - 3.20 0.144 3475.75 404.8 97.32 - - 2078.88 - - - - - - - - - 16.08 -
14965.89 499.12 10.30 1921 14970.38 done 1.27 - - 2437.56 - 3.06 0.071 2179.50 -423.6 97.32 - - 2078.34 - - - - - - - - - 16.09 -
15275.94 473.75 7.94 1953 15277.27 VBD 1.27 - - 2437.38 - - - 2179.75 - 97.32 - - 2076.34 - - - - - - - - - - -
15576.00 450.45 7.79 1983 15581.78 done 1.27 - - 2437.38 - 3.73 0.167 736.88 -386.8 97.32 - - 2077.12 - - - - - - - - - 16.07 -
15624.97 446.01 9.29 1993 15631.73 done 1.27 - - 2437.31 - 3.41 0.069 2223.44 435.9 97.32 - - 2076.03 - - - - - - - - - 16.08 -
15931.10 423.32 7.06 2024 15935.58 done 1.29 - - 2437.62 - 3.08 0.143 3476.50 406.8 97.32 - - 2077.03 - - - - - - - - - 16.09 -
16001.13 418.06 7.10 2038 16005.61 done 1.31 - - 2437.50 - 3.09 0.068 2180.12 -419.5 97.32 - - 2077.00 - - - - - - - - - 16.10 -
16311.19 398.31 5.97 2070 16346.74 1.43 0.30 0.097 2494.31 189.4 3.77 0.164 736.62 -382.9 134.82 29.69 1.573 1948.62 -4.3 0.183 - - - - - - 16.08 15.88 13.17
16381.19 392.05 11.15 2084 16385.75 roll 1.43 - - 2494.00 - 3.44 0.068 2221.75 431.7 134.82 - - 1946.59 - - - - - - - - - 15.95 -
16691.23 361.09 9.98 2116 16692.56 no move 1.43 - - 2494.44 - - - 2221.25 - 134.82 - - 1941.00 - - - - - - - - - - -
16991.26 332.65 9.22 2146 16997.04 done 1.43 - - 2494.00 - 3.87 0.160 736.12 -383.8 134.82 - - 1941.44 - - - - - - - - - 15.98 -
17050.21 325.30 12.60 2158 17056.98 done 1.43 - - 2494.81 - 3.42 0.067 2221.00 434.2 134.82 - - 1941.50 - - - - - - - - - 16.01 -
17356.30 293.26 10.48 2189 17360.80 done 1.43 - - 2494.56 - 3.09 0.140 3476.50 406.3 134.82 - - 1940.56 - - - - - - - - - 16.02 -
17400.18 288.25 11.81 2198 17406.95 done 1.43 - - 2494.25 - 3.09 0.068 2181.25 -419.2 134.82 - - 1940.47 - - - - - - - - - 16.04 -
17706.35 256.40 10.50 2229 17711.00 done 1.43 - - 2494.19 - 3.19 0.137 3476.44 406.0 134.82 - - 1939.84 - - - - - - - - - 16.03 -
17816.38 244.41 10.93 2251 17820.87 done 1.43 - - 2494.50 - 3.09 0.067 2180.50 -419.4 134.82 - - 1939.62 - - - - - - - - - 16.04 -
18126.41 213.08 9.81 2283 18127.74 VBD 1.43 - - 2494.19 - - - 2180.19 - 134.82 - - 1938.19 - - - - - - - - - - -
18426.44 185.11 9.06 2313 18427.77 VBD 1.43 - - 2494.38 - - - 2180.25 - 134.82 - - 1937.91 - - - - - - - - - - -
18726.48 153.61 9.47 2343 18732.10 done 1.43 - - 2493.50 - 3.72 0.157 736.06 -388.2 134.82 - - 1940.03 - - - - - - - - - 16.03 -
18955.41 136.90 5.56 2389 18996.80 done 1.56 - - 2494.81 - 3.39 0.067 2223.56 438.8 179.91 36.51 1.284 1765.53 -4.8 0.085 - - - - - - - 16.06 13.32
19301.62 115.32 6.33 2428 19303.05 1.59 0.19 0.107 2533.19 202.0 - - 2223.00 - 179.91 - - 1757.28 - - - - - - - - 15.94 - -
19601.64 96.32 5.05 2465 19652.81 1.76 0.19 0.111 2573.06 209.8 3.11 0.137 3474.56 402.4 234.18 43.28 1.223 1543.62 -4.9 0.065 - - - - - - 15.97 15.76 13.26
19876.65 68.54 9.99 2520 19882.34 roll 1.76 - - 2573.00 - 3.13 0.065 2179.44 -413.8 234.18 - - 1538.31 - - - - - - - - - 15.85 -
20061.73 54.57 8.41 2557 20067.37 roll 1.76 - - 2572.19 - 3.19 0.130 3475.88 406.4 234.18 - - 1537.44 - - - - - - - - - 15.88 -
20176.96 44.88 8.62 2580 20182.42 done 1.76 - - 2572.19 - 3.11 0.063 2178.00 -417.3 234.18 - - 1536.72 - - - - - - - - - 15.91 -
20361.87 40.15 1.42 2617 20460.53 2.12 0.52 0.087 2660.06 169.0 3.28 0.127 3477.62 396.2 354.01 93.10 1.157 1055.53 -5.2 0.030 - - - - - - 15.92 15.56 13.16
20663.27 13.01 10.16 2677 20668.92 roll 2.12 - - 2660.12 - 3.12 0.063 2180.56 -415.7 354.01 - - 1051.03 - - - - - - - - - 15.73 -
20814 end climb: SURFACE_DEPTH_REACHED
20814 begin surface coast
20839 end surface coast: CONTROL_FINISHED_OK
20839 begin surface
SM 1.29 - - - - 181.5 - 0.014 767.3 - 16.09 0.099 766.4 47.6 - 0.52 0.093 768.3 1471.5 -2.086 - - 30.36 15.75 15.79 -