NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 73 * Raw log
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• Previous call tries 2 • 26.49 of 350.00 AH used of 24V (92.43% remains)
• Surface angle -55.4 deg, depth 0.72 m • Intended pitch -20.5 deg, speed -8.049 cm/s
VBD pumped to 424.75 (SM_CC=425)
• GPS1 time: 36 s
• GPS2 time: 5 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
6.20 - - - 77.05 VBD -1.26 - - 177.00 - - - 2119.25 - -77.86 70.33 0.005 2369.41 - - - - - - - - - - 15.66
77.34 3.12 -3.55 9 110.32 -1.26 13.79 0.271 1833.50 120.1 4.08 0.174 662.69 -357.0 -77.86 11.40 0.007 2814.00 39.0 -2.903 - - - - - - 15.62 15.65 15.69
333.05 59.89 -17.67 60 338.92 roll -1.26 - - 1833.06 - 3.47 0.066 2118.19 419.5 -77.86 - - 2819.84 - - - - - - - - - 15.78 -
518.09 86.54 -14.68 97 519.41 no move -1.26 - - 1833.44 - - - 2118.69 - -77.86 - - 2817.12 - - - - - - - - - - -
698.12 108.72 -11.75 126 699.45 no move -1.26 - - 1833.00 - - - 2118.56 - -77.86 - - 2817.81 - - - - - - - - - - -
998.15 141.83 -10.27 156 1002.72 roll -1.26 - - 1833.06 - 3.43 0.130 3475.38 395.6 -77.86 - - 2817.78 - - - - - - - - - 15.91 -
1052.03 147.51 -10.16 167 1058.87 roll -1.26 - - 1832.50 - 3.36 0.066 2082.44 -414.6 -77.86 - - 2818.56 - - - - - - - - - 15.93 -
1358.19 180.22 -11.15 198 1364.01 roll -1.26 - - 1833.44 - 3.92 0.174 662.62 -362.2 -77.86 - - 2816.06 - - - - - - - - - 15.93 -
1413.21 187.68 -15.02 209 1417.78 roll -1.26 - - 1832.44 - 3.42 0.066 2118.44 425.7 -77.86 - - 2819.00 - - - - - - - - - 15.96 -
1723.23 222.27 -11.32 241 1724.56 no move -1.26 - - 1833.62 - - - 2118.69 - -77.86 - - 2818.09 - - - - - - - - - - -
2023.26 256.19 -11.44 271 2024.58 no move -1.26 - - 1833.19 - - - 2118.56 - -77.86 - - 2817.84 - - - - - - - - - - -
2323.28 288.46 -11.68 301 2324.61 no move -1.26 - - 1833.00 - - - 2118.69 - -77.86 - - 2817.59 - - - - - - - - - - -
2623.31 322.00 -11.57 331 2629.12 roll -1.26 - - 1833.06 - 4.02 0.175 663.50 -362.0 -77.86 - - 2816.34 - - - - - - - - - 16.01 -
2718.33 334.46 -13.13 350 2722.97 roll -1.26 - - 1833.06 - 3.45 0.072 2118.62 421.8 -77.86 - - 2817.53 - - - - - - - - - 16.06 -
3028.36 368.08 -9.81 382 3032.94 roll -1.26 - - 1833.19 - 3.41 0.135 3475.31 397.9 -77.86 - - 2817.38 - - - - - - - - - 16.04 -
3092.26 375.74 -11.86 395 3099.08 roll -1.26 - - 1833.50 - 3.39 0.071 2086.00 -409.8 -77.86 - - 2816.34 - - - - - - - - - 16.06 -
3398.40 406.82 -10.36 426 3404.20 roll -1.26 - - 1833.38 - 3.93 0.183 663.69 -361.9 -77.86 - - 2818.12 - - - - - - - - - 16.03 -
3507.34 420.19 -12.41 448 3514.13 roll -1.26 - - 1832.25 - 3.45 0.074 2118.75 421.8 -77.86 - - 2816.50 - - - - - - - - - 16.06 -
3813.44 452.37 -10.28 479 3814.77 no move -1.26 - - 1832.75 - - - 2118.56 - -77.86 - - 2815.72 - - - - - - - - - - -
4113.47 483.72 -10.62 509 4118.07 roll -1.26 - - 1833.00 - 3.40 0.139 3475.62 399.1 -77.86 - - 2816.06 - - - - - - - - - 16.05 -
4183.50 491.65 -12.02 523 4188.06 roll -1.26 - - 1833.00 - 3.38 0.075 2084.56 -411.6 -77.86 - - 2814.78 - - - - - - - - - 16.09 -
4493.54 524.74 -10.42 555 4494.87 no move -1.26 - - 1833.50 - - - 2084.81 - -77.86 - - 2814.34 - - - - - - - - - - -
4793.60 554.65 -10.01 585 4794.93 no move -1.26 - - 1832.81 - - - 2085.06 - -77.86 - - 2813.84 - - - - - - - - - - -
5093.66 583.14 -9.29 615 5099.47 roll -1.26 - - 1833.81 - 3.94 0.192 663.38 -360.8 -77.86 - - 2815.19 - - - - - - - - - 16.06 -
5148.70 588.95 -10.37 626 5153.40 roll -1.26 - - 1833.31 - 3.46 0.079 2116.94 420.1 -77.86 - - 2813.59 - - - - - - - - - 16.10 -
5458.76 618.17 -9.37 658 5464.57 roll -1.26 - - 1832.19 - 4.07 0.187 664.25 -356.9 -77.86 - - 2812.84 - - - - - - - - - 16.07 -
5523.89 625.46 -10.88 671 5528.49 roll -1.26 - - 1833.31 - 3.45 0.078 2115.31 420.6 -77.86 - - 2814.03 - - - - - - - - - 16.10 -
5833.84 654.62 -9.19 703 5839.68 roll -1.26 - - 1833.88 - 4.08 0.189 663.12 -355.9 -77.86 - - 2810.78 - - - - - - - - - 16.07 -
5892.80 661.38 -11.67 715 5899.58 roll -1.26 - - 1832.88 - 3.44 0.079 2114.44 421.9 -77.86 - - 2811.25 - - - - - - - - - 16.10 -
6198.92 688.80 -7.98 746 6200.25 no move -1.26 - - 1833.00 - - - 2114.19 - -77.86 - - 2810.69 - - - - - - - - - - -
6498.99 715.27 -9.48 776 6500.31 no move -1.26 - - 1833.50 - - - 2113.81 - -77.86 - - 2809.78 - - - - - - - - - - -
6799.04 742.41 -9.01 806 6803.62 roll -1.26 - - 1832.69 - 3.42 0.146 3474.12 397.8 -77.86 - - 2810.62 - - - - - - - - - 16.10 -
6839.06 746.22 -9.50 814 6843.61 roll -1.26 - - 1833.38 - 3.38 0.081 2086.19 -410.6 -77.86 - - 2810.44 - - - - - - - - - 16.11 -
7149.08 774.36 -9.11 846 7154.90 roll -1.26 - - 1833.25 - 4.01 0.199 663.56 -354.8 -77.86 - - 2808.88 - - - - - - - - - 16.08 -
7194.10 778.95 -11.35 855 7198.81 roll -1.26 - - 1833.38 - 3.47 0.084 2115.06 418.3 -77.86 - - 2809.88 - - - - - - - - - 16.11 -
7504.12 806.57 -7.88 887 7505.46 no move -1.26 - - 1833.50 - - - 2115.00 - -77.86 - - 2809.50 - - - - - - - - - - -
7804.15 832.44 -8.77 917 7810.00 roll -1.26 - - 1833.50 - 4.08 0.197 663.62 -355.7 -77.86 - - 2808.41 - - - - - - - - - 16.08 -
7899.17 842.75 -11.34 936 7903.89 roll -1.26 - - 1833.06 - 3.48 0.088 2111.88 416.2 -77.86 - - 2809.47 - - - - - - - - - 16.12 -
8209.20 870.20 -8.46 968 8213.77 roll -1.26 - - 1833.50 - 3.45 0.147 3473.75 394.7 -77.86 - - 2811.19 - - - - - - - - - 16.10 -
8253.08 874.90 -10.01 977 8259.91 roll -1.26 - - 1833.31 - 3.37 0.083 2090.00 -410.6 -77.86 - - 2808.91 - - - - - - - - - 16.11 -
8559.24 901.39 -8.90 1008 8565.26 roll -1.26 - - 1833.38 - 4.01 0.202 663.62 -355.7 -77.86 - - 2806.03 - - - - - - - - - 16.08 -
8664.25 912.56 -10.28 1029 8668.97 roll -1.26 - - 1833.44 - 3.48 0.090 2113.62 416.7 -77.86 - - 2808.47 - - - - - - - - - 16.12 -
8974.29 938.36 -8.74 1061 8979.00 roll -1.26 - - 1833.31 - 3.49 0.148 3472.88 389.5 -77.86 - - 2808.59 - - - - - - - - - 16.10 -
9068.31 947.57 -10.80 1080 9075.01 roll -1.26 - - 1833.50 - 3.39 0.088 2088.62 -408.3 -77.86 - - 2808.06 - - - - - - - - - 16.11 -
9374.33 970.98 -7.65 1111 9380.07 roll -1.26 - - 1833.00 - 3.56 0.150 3473.06 388.9 -77.86 - - 2806.12 - - - - - - - - - 16.10 -
9409.34 974.21 -8.11 1118 9414.03 roll -1.26 - - 1832.81 - 3.39 0.087 2088.56 -408.4 -77.86 - - 2806.50 - - - - - - - - - 16.11 -
9619 end dive: TARGET_DEPTH_EXCEEDED
9619 begin apogee
9620.60 991.22 -7.81 1140 9691.08 -0.25 1.76 0.168 2080.50 140.7 0.06 0.344 2189.19 1677.2 - 64.72 2.270 2497.56 -4.8 0.348 - - - - - - 16.07 15.59 13.24
9694 end apogee: CONTROL_FINISHED_OK
9694 begin climb
9694.20 992.66 - 1147 9771.33 1.26 2.54 0.105 2449.75 145.4 - - 2189.38 - 77.86 72.91 2.216 2182.00 -4.3 0.324 - - - - - - 15.63 - 12.96
10069.58 960.03 10.20 1188 10074.93 done 1.26 - - 2448.25 - 3.37 0.144 3472.81 380.8 77.86 - - 2169.50 - - - - - - - - - 15.65 -
10174.62 947.38 14.56 1209 10179.06 done 1.26 - - 2449.25 - 3.17 0.073 2184.06 -406.5 77.86 - - 2171.16 - - - - - - - - - 15.71 -
10484.42 917.24 9.99 1241 10488.97 done 1.26 - - 2449.50 - 3.35 0.144 3472.62 384.6 77.86 - - 2168.00 - - - - - - - - - 15.81 -
10568.29 907.64 11.72 1258 10575.10 done 1.26 - - 2449.69 - 3.14 0.071 2183.44 -410.6 77.86 - - 2165.06 - - - - - - - - - 15.84 -
10874.45 878.85 8.77 1289 10879.01 done 1.26 - - 2449.62 - 3.34 0.144 3473.31 386.2 77.86 - - 2165.09 - - - - - - - - - 15.89 -
10888.31 877.07 9.62 1292 10895.12 done 1.26 - - 2449.56 - 3.13 0.069 2182.94 -412.3 77.86 - - 2164.78 - - - - - - - - - 15.90 -
11194.47 847.76 9.62 1323 11195.80 VBD 1.26 - - 2449.38 - - - 2183.38 - 77.86 - - 2162.16 - - - - - - - - - - -
11494.49 820.20 9.41 1353 11495.82 VBD 1.26 - - 2449.31 - - - 2182.25 - 77.86 - - 2161.09 - - - - - - - - - - -
11794.51 792.69 9.96 1383 11800.30 done 1.26 - - 2449.06 - 3.89 0.167 736.75 -371.6 77.86 - - 2160.88 - - - - - - - - - 15.97 -
11879.53 783.57 9.89 1400 11885.17 done 1.26 - - 2448.94 - 3.52 0.069 2219.25 421.2 77.86 - - 2158.75 - - - - - - - - - 16.00 -
12184.59 756.57 8.53 1431 12189.12 done 1.26 - - 2448.62 - 3.25 0.145 3474.31 386.2 77.86 - - 2160.41 - - - - - - - - - 16.01 -
12254.61 750.67 8.34 1445 12259.13 done 1.26 - - 2449.25 - 3.13 0.071 2181.56 -413.0 77.86 - - 2160.72 - - - - - - - - - 16.03 -
12564.70 723.35 9.09 1477 12569.20 done 1.26 - - 2447.81 - 3.31 0.143 3473.00 390.2 77.86 - - 2161.62 - - - - - - - - - 16.02 -
12644.70 715.93 9.76 1493 12649.21 done 1.26 - - 2449.06 - 3.11 0.071 2181.00 -415.4 77.86 - - 2163.00 - - - - - - - - - 16.03 -
12954.74 688.63 9.13 1525 12960.52 done 1.26 - - 2449.38 - 3.85 0.162 736.81 -375.1 77.86 - - 2162.59 - - - - - - - - - 16.03 -
12993.69 684.45 9.68 1533 13000.48 done 1.26 - - 2449.56 - 3.53 0.067 2218.88 419.8 77.86 - - 2158.81 - - - - - - - - - 16.05 -
13299.80 659.56 7.99 1564 13305.90 done 1.26 - - 2449.69 - 3.97 0.159 735.88 -373.6 77.86 - - 2159.84 - - - - - - - - - 16.03 -
13338.75 655.84 9.30 1572 13345.78 done 1.26 - - 2449.19 - 3.47 0.065 2219.62 427.6 77.86 - - 2159.75 - - - - - - - - - 16.06 -
13644.88 631.70 7.33 1603 13650.67 done 1.28 - - 2448.81 - 3.97 0.157 736.50 -373.6 77.86 - - 2157.22 - - - - - - - - - 16.04 -
13703.81 626.34 8.10 1615 13710.59 done 1.28 - - 2449.00 - 3.46 0.065 2220.75 429.0 77.86 - - 2160.00 - - - - - - - - - 16.07 -
14009.95 603.19 7.41 1646 14011.29 VBD 1.30 - - 2449.19 - - - 2220.75 - 77.86 - - 2158.19 - - - - - - - - - - -
14309.99 582.56 7.07 1676 14311.32 VBD 1.33 - - 2449.19 - - - 2220.19 - 77.86 - - 2157.81 - - - - - - - - - - -
14610.04 560.59 6.94 1706 14611.37 VBD 1.36 - - 2449.12 - - - 2220.31 - 77.86 - - 2158.00 - - - - - - - - - - -
14910.06 541.08 6.26 1736 14915.92 1.42 0.20 0.104 2489.88 203.8 3.98 0.158 736.94 -372.7 77.86 - - 2156.84 - - - - - - - - 16.08 16.07 -
14949.04 537.74 8.34 1744 14955.77 done 1.42 - - 2490.31 - 3.45 0.067 2221.44 430.3 77.86 - - 2160.81 - - - - - - - - - 16.10 -
15255.09 516.89 7.03 1775 15259.60 done 1.45 - - 2490.12 - 3.15 0.139 3473.62 397.5 77.86 - - 2158.62 - - - - - - - - - 16.08 -
15428.99 503.92 7.37 1810 15435.78 done 1.47 - - 2490.06 - 3.07 0.067 2179.88 -421.4 77.86 - - 2157.69 - - - - - - - - - 16.09 -
15735.16 484.06 6.51 1841 15736.49 VBD 1.51 - - 2490.50 - - - 2180.56 - 77.86 - - 2158.62 - - - - - - - - - - -
16035.18 465.40 6.77 1871 16039.76 1.55 0.15 0.126 2522.44 212.9 3.22 0.136 3474.06 401.7 77.86 - - 2160.59 - - - - - - - - 16.08 16.09 -
16115.23 459.09 7.83 1887 16119.69 done 1.55 - - 2522.56 - 3.09 0.066 2177.44 -419.6 77.86 - - 2158.44 - - - - - - - - - 16.10 -
16425.22 437.99 6.61 1919 16430.83 done 1.60 - - 2522.38 - 3.78 0.154 735.88 -381.4 77.86 - - 2158.53 - - - - - - - - - 16.08 -
16654.18 419.71 7.46 1965 16660.96 done 1.61 - - 2522.31 - 3.44 0.066 2222.06 432.0 77.86 - - 2158.59 - - - - - - - - - 16.10 -
16960.27 401.29 5.71 1996 16992.54 1.71 0.20 0.105 2562.81 202.5 3.15 0.139 3475.81 398.0 111.66 26.98 1.561 2042.75 -4.3 0.184 - - - - - - 16.09 15.90 13.23
17049.32 393.60 10.87 2014 17055.93 roll 1.71 - - 2563.44 - 3.12 0.064 2180.62 -415.1 111.66 - - 2040.00 - - - - - - - - - 15.97 -
17355.29 362.77 10.72 2045 17361.00 roll 1.71 - - 2563.31 - 3.85 0.150 736.31 -375.1 111.66 - - 2037.31 - - - - - - - - - 15.98 -
17374.22 360.44 11.24 2049 17381.01 roll 1.71 - - 2563.06 - 3.44 0.059 2222.56 432.0 111.66 - - 2036.94 - - - - - - - - - 16.01 -
17680.31 328.31 10.19 2080 17685.05 roll 1.71 - - 2562.88 - 3.12 0.134 3474.69 401.3 111.66 - - 2038.94 - - - - - - - - - 16.01 -
17734.18 322.15 11.24 2091 17740.97 roll 1.71 - - 2563.00 - 3.08 0.065 2180.56 -420.2 111.66 - - 2037.09 - - - - - - - - - 16.02 -
18040.33 289.22 9.58 2122 18044.85 roll 1.71 - - 2563.38 - 3.20 0.131 3474.50 404.4 111.66 - - 2038.28 - - - - - - - - - 16.03 -
18110.38 281.19 11.64 2136 18114.99 done 1.71 - - 2563.88 - 3.09 0.064 2180.00 -418.9 111.66 - - 2036.69 - - - - - - - - - 16.04 -
18420.38 252.11 9.25 2168 18426.00 done 1.71 - - 2562.88 - 3.80 0.149 735.62 -380.1 111.66 - - 2036.69 - - - - - - - - - 16.03 -
18509.32 242.29 11.56 2186 18516.11 done 1.71 - - 2563.75 - 3.42 0.060 2223.06 434.9 111.66 - - 2038.47 - - - - - - - - - 16.06 -
18815.41 214.17 9.12 2217 18821.07 done 1.71 - - 2561.06 - 3.91 0.142 736.69 -380.1 111.66 - - 2036.34 - - - - - - - - - 16.04 -
18880.48 206.87 11.51 2230 18885.00 done 1.71 - - 2563.50 - 3.42 0.058 2221.19 434.1 111.66 - - 2036.09 - - - - - - - - - 16.07 -
19190.44 180.42 7.70 2262 19191.78 VBD 1.71 - - 2563.44 - - - 2223.62 - 111.66 - - 2034.44 - - - - - - - - - - -
19490.48 157.39 6.96 2292 19496.13 done 1.75 - - 2563.38 - 3.90 0.140 735.94 -381.5 111.66 - - 2035.38 - - - - - - - - - 16.04 -
19635.51 145.42 8.67 2321 19640.21 done 1.75 - - 2563.75 - 3.41 0.060 2222.94 436.1 111.66 - - 2035.69 - - - - - - - - - 16.07 -
19945.53 126.85 5.08 2353 19986.94 1.88 0.19 0.106 2602.81 205.6 3.12 0.131 3473.12 400.7 154.56 35.89 1.264 1868.19 -4.7 0.078 - - - - - - 16.05 15.86 13.29
20089.41 113.84 10.69 2382 20096.21 roll 1.88 - - 2602.56 - 3.11 0.061 2178.50 -416.3 154.56 - - 1864.16 - - - - - - - - - 15.94 -
20395.65 84.79 6.54 2430 20401.40 roll 1.92 - - 2601.81 - 3.80 0.143 736.00 -379.6 154.56 - - 1863.38 - - - - - - - - - 15.94 -
20625.77 72.09 4.71 2476 20672.34 2.07 0.24 0.093 2647.31 189.6 3.44 0.059 2227.50 433.6 202.87 39.35 1.187 1672.78 -4.8 0.049 - - - - - - 15.96 15.97 13.20
20850.76 55.15 8.20 2521 20856.56 roll 2.07 - - 2648.25 - 3.94 0.138 736.81 -378.3 202.87 - - 1666.53 - - - - - - - - - 15.83 -
21055.85 38.42 7.38 2562 21061.55 roll 2.09 - - 2649.44 - 3.45 0.058 2226.81 431.9 202.87 - - 1664.84 - - - - - - - - - 15.89 -
21240.93 38.05 -0.87 2599 21348.88 2.47 0.60 0.080 2746.88 162.4 4.01 0.137 736.06 -371.8 331.92 101.01 1.144 1145.81 -5.1 0.029 - - - - - - 15.92 15.55 13.21
21551 end climb: SURFACE_DEPTH_REACHED
21551 begin surface coast
21566 end surface coast: CONTROL_FINISHED_OK
21566 begin surface
SM 0.46 - - - - 181.5 0.84 0.148 768.4 794.5 16.55 0.074 774.9 46.8 - 3.24 0.061 762.0 233.9 -0.180 - - 15.47 15.69 15.73 -