NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 118 * Raw log
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• Previous call tries 1 • 39.46 of 575.00 AH used of 24V (93.14% remains)
• Surface angle -65.8 deg, depth 1.07 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.97 (SM_CC=425)
• GPS1 time: 35 s
• GPS2 time: 4 s • Transponder ping count: 3
• 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
6.41 - - - 69.36 VBD -1.25 - - 175.44 - - - 2120.06 - -77.86 62.36 0.005 2189.16 - - - - - - - - - - 15.64
69.63 3.07 -4.22 12 106.72 -1.25 13.49 0.271 1836.56 123.1 3.45 0.128 3473.88 392.4 -77.86 16.38 0.006 2816.25 38.3 -3.247 - - - - - - 15.61 15.63 15.67
329.60 58.53 -15.77 64 335.26 roll -1.25 - - 1836.56 - 3.36 0.066 2082.12 -414.2 -77.86 - - 2816.31 - - - - - - - - - 15.79 -
514.56 79.67 -9.55 101 520.29 roll -1.25 - - 1836.38 - 3.46 0.123 3475.56 402.7 -77.86 - - 2817.28 - - - - - - - - - 15.82 -
674.60 99.53 -12.71 133 680.32 roll -1.25 - - 1836.38 - 3.35 0.065 2082.62 -415.8 -77.86 - - 2817.91 - - - - - - - - - 15.87 -
859.69 121.66 -11.76 152 861.02 no move -1.25 - - 1836.00 - - - 2083.06 - -77.86 - - 2818.50 - - - - - - - - - - -
1159.65 154.72 -10.81 182 1164.31 roll -1.25 - - 1836.62 - 3.46 0.125 3474.62 402.2 -77.86 - - 2818.44 - - - - - - - - - 15.93 -
1279.79 169.03 -11.54 206 1284.29 roll -1.25 - - 1837.12 - 3.31 0.067 2083.44 -420.3 -77.86 - - 2819.16 - - - - - - - - - 15.96 -
1589.77 200.06 -10.03 238 1591.10 no move -1.25 - - 1836.38 - - - 2082.69 - -77.86 - - 2818.84 - - - - - - - - - - -
1889.81 230.25 -10.79 268 1891.14 no move -1.25 - - 1836.31 - - - 2083.12 - -77.86 - - 2819.06 - - - - - - - - - - -
2189.87 262.70 -10.81 298 2191.20 no move -1.25 - - 1836.12 - - - 2083.12 - -77.86 - - 2818.94 - - - - - - - - - - -
2489.93 294.19 -10.67 328 2491.26 no move -1.25 - - 1836.31 - - - 2083.19 - -77.86 - - 2818.44 - - - - - - - - - - -
2789.96 325.46 -10.54 358 2791.29 no move -1.25 - - 1836.56 - - - 2082.94 - -77.86 - - 2818.31 - - - - - - - - - - -
3090.02 355.64 -10.08 388 3094.70 roll -1.25 - - 1836.31 - 3.51 0.134 3475.12 396.6 -77.86 - - 2818.41 - - - - - - - - - 16.05 -
3130.05 360.08 -10.98 396 3134.66 roll -1.25 - - 1836.00 - 3.28 0.072 2082.88 -424.5 -77.86 - - 2818.31 - - - - - - - - - 16.05 -
3440.09 390.81 -9.31 428 3441.42 no move -1.25 - - 1836.25 - - - 2083.38 - -77.86 - - 2817.25 - - - - - - - - - - -
3740.13 421.03 -10.42 458 3741.46 no move -1.25 - - 1836.44 - - - 2082.94 - -77.86 - - 2816.47 - - - - - - - - - - -
4040.15 452.09 -9.96 488 4045.87 roll -1.25 - - 1836.38 - 3.80 0.181 662.38 -373.8 -77.86 - - 2814.19 - - - - - - - - - 16.05 -
4105.19 460.12 -11.79 501 4109.88 roll -1.25 - - 1836.00 - 3.40 0.070 2121.25 429.1 -77.86 - - 2816.56 - - - - - - - - - 16.09 -
4415.20 493.12 -10.36 533 4416.53 no move -1.25 - - 1836.50 - - - 2120.62 - -77.86 - - 2815.34 - - - - - - - - - - -
4715.24 522.88 -9.54 563 4720.98 roll -1.25 - - 1836.38 - 3.87 0.178 662.19 -376.9 -77.86 - - 2812.62 - - - - - - - - - 16.06 -
4804.28 533.31 -11.78 581 4811.00 roll -1.25 - - 1835.06 - 3.41 0.073 2120.06 427.5 -77.86 - - 2816.56 - - - - - - - - - 16.09 -
5110.29 561.73 -8.99 612 5111.62 no move -1.25 - - 1836.12 - - - 2120.88 - -77.86 - - 2812.22 - - - - - - - - - - -
5410.32 588.73 -8.83 642 5416.06 roll -1.25 - - 1836.50 - 3.94 0.180 662.44 -370.2 -77.86 - - 2814.00 - - - - - - - - - 16.06 -
5485.40 596.89 -10.79 657 5489.99 roll -1.25 - - 1836.19 - 3.41 0.077 2120.56 427.6 -77.86 - - 2813.06 - - - - - - - - - 16.09 -
5795.36 624.65 -8.98 689 5796.69 no move -1.25 - - 1836.25 - - - 2120.12 - -77.86 - - 2813.09 - - - - - - - - - - -
6095.39 652.68 -8.83 719 6096.72 no move -1.25 - - 1836.12 - - - 2120.88 - -77.86 - - 2810.84 - - - - - - - - - - -
6395.42 680.66 -8.08 749 6401.18 roll -1.25 - - 1836.25 - 3.94 0.185 663.56 -369.9 -77.86 - - 2810.16 - - - - - - - - - 16.07 -
6440.44 685.85 -12.04 758 6445.08 roll -1.25 - - 1835.81 - 3.42 0.078 2119.50 425.7 -77.86 - - 2812.03 - - - - - - - - - 16.10 -
6750.45 713.39 -8.73 790 6751.78 no move -1.25 - - 1836.31 - - - 2118.38 - -77.86 - - 2810.03 - - - - - - - - - - -
7050.48 739.04 -8.60 820 7051.81 no move -1.25 - - 1835.19 - - - 2118.12 - -77.86 - - 2808.75 - - - - - - - - - - -
7350.50 764.82 -8.26 850 7351.83 no move -1.25 - - 1835.88 - - - 2119.06 - -77.86 - - 2809.53 - - - - - - - - - - -
7650.53 791.30 -8.92 880 7656.28 roll -1.25 - - 1836.19 - 3.98 0.191 664.31 -365.5 -77.86 - - 2811.34 - - - - - - - - - 16.08 -
7739.47 800.81 -11.19 898 7746.29 roll -1.25 - - 1836.00 - 3.41 0.081 2119.12 426.6 -77.86 - - 2809.09 - - - - - - - - - 16.11 -
8045.59 826.31 -8.38 929 8046.92 no move -1.25 - - 1836.75 - - - 2119.12 - -77.86 - - 2807.31 - - - - - - - - - - -
8345.61 849.24 -7.52 959 8346.94 no move -1.25 - - 1836.38 - - - 2119.06 - -77.86 - - 2808.03 - - - - - - - - - - -
8645.65 870.13 -6.93 989 8646.98 no move -1.25 - - 1834.94 - - - 2117.88 - -77.86 - - 2810.97 - - - - - - - - - - -
8945.70 890.72 -6.70 1019 8947.03 no move -1.25 - - 1835.94 - - - 2118.94 - -77.86 - - 2806.28 - - - - - - - - - - -
9245.75 911.46 -7.62 1049 9247.08 no move -1.25 - - 1836.44 - - - 2119.00 - -77.86 - - 2805.91 - - - - - - - - - - -
9545.81 933.85 -8.05 1079 9547.14 no move -1.25 - - 1836.00 - - - 2118.88 - -77.86 - - 2807.66 - - - - - - - - - - -
9845.86 957.14 -9.17 1109 9847.19 no move -1.25 - - 1836.56 - - - 2119.06 - -77.86 - - 2805.75 - - - - - - - - - - -
10145.91 979.91 -7.74 1139 10150.58 roll -1.25 - - 1836.19 - 3.39 0.151 3474.19 399.7 -77.86 - - 2806.41 - - - - - - - - - 16.10 -
10205.95 983.76 -7.82 1151 10210.79 roll -1.25 - - 1835.81 - 3.37 0.085 2085.25 -412.1 -77.86 - - 2806.81 - - - - - - - - - 16.12 -
10295 end dive: TARGET_DEPTH_EXCEEDED
10295 begin apogee
10297.19 990.03 -5.48 1161 10367.15 -0.25 1.70 0.161 2079.94 143.6 0.07 0.332 2185.88 1437.6 - 64.14 2.288 2501.09 -4.8 0.342 - - - - - - 16.07 15.59 13.15
10368 end apogee: CONTROL_FINISHED_OK
10368 begin climb
10368.94 991.33 - 1168 10447.96 1.25 2.46 0.099 2447.88 149.6 - - 2185.81 - 77.86 72.40 2.235 2181.41 -4.4 0.325 - - - - - - 15.64 - 12.81
10746.24 956.82 10.95 1206 10747.57 VBD 1.25 - - 2447.94 - - - 2185.62 - 77.86 - - 2168.22 - - - - - - - - - - -
11046.09 926.95 10.54 1236 11050.80 done 1.25 - - 2447.56 - 3.32 0.146 3473.44 387.9 77.86 - - 2166.78 - - - - - - - - - 15.78 -
11179.98 912.37 10.86 1263 11186.94 done 1.25 - - 2447.69 - 3.14 0.074 2183.62 -410.8 77.86 - - 2166.31 - - - - - - - - - 15.83 -
11486.19 882.57 9.04 1294 11487.52 VBD 1.25 - - 2446.94 - - - 2184.00 - 77.86 - - 2164.56 - - - - - - - - - - -
11786.21 854.47 9.39 1324 11787.55 VBD 1.25 - - 2447.25 - - - 2184.00 - 77.86 - - 2162.16 - - - - - - - - - - -
12086.25 828.09 8.26 1354 12090.96 done 1.25 - - 2447.06 - 3.33 0.144 3473.38 387.2 77.86 - - 2163.66 - - - - - - - - - 15.95 -
12210.13 815.69 10.02 1379 12216.96 done 1.25 - - 2447.50 - 3.06 0.074 2182.44 -421.9 77.86 - - 2163.06 - - - - - - - - - 15.97 -
12516.32 787.41 8.67 1410 12522.11 done 1.25 - - 2447.44 - 3.87 0.164 735.19 -374.0 77.86 - - 2159.97 - - - - - - - - - 15.97 -
12701.38 767.09 11.01 1447 12705.95 done 1.25 - - 2447.56 - 3.48 0.070 2216.62 425.7 77.86 - - 2160.22 - - - - - - - - - 16.00 -
13011.40 739.81 8.60 1479 13012.73 VBD 1.25 - - 2447.25 - - - 2218.44 - 77.86 - - 2158.81 - - - - - - - - - - -
13311.44 715.13 8.01 1509 13316.14 done 1.25 - - 2446.81 - 3.17 0.143 3473.38 395.9 77.86 - - 2161.84 - - - - - - - - - 16.01 -
13451.47 702.30 9.45 1537 13455.99 done 1.25 - - 2446.69 - 3.03 0.072 2181.19 -426.5 77.86 - - 2162.56 - - - - - - - - - 16.03 -
13761.52 678.90 7.48 1569 13762.85 VBD 1.27 - - 2446.81 - - - 2180.38 - 77.86 - - 2160.38 - - - - - - - - - - -
14061.56 658.70 6.25 1599 14067.25 done 1.32 - - 2447.81 - 3.80 0.158 735.69 -380.2 77.86 - - 2158.25 - - - - - - - - - 16.04 -
14236.60 646.86 6.63 1634 14242.17 done 1.37 - - 2447.75 - 3.47 0.069 2219.12 427.5 77.86 - - 2157.38 - - - - - - - - - 16.06 -
14541.63 627.92 5.95 1665 14572.92 1.46 0.28 0.090 2504.25 201.8 3.22 0.143 3473.88 389.7 107.88 24.95 1.811 2059.28 -3.9 0.226 - - - - - - 16.06 15.86 13.16
14615.56 620.36 10.22 1680 14622.30 roll 1.46 - - 2504.19 - 3.03 0.071 2179.00 -427.4 107.88 - - 2056.38 - - - - - - - - - 15.92 -
14921.68 589.85 10.48 1711 14923.01 no move 1.46 - - 2503.62 - - - 2178.50 - 107.88 - - 2053.78 - - - - - - - - - - -
15221.75 555.68 11.92 1741 15223.08 no move 1.46 - - 2503.44 - - - 2179.25 - 107.88 - - 2051.12 - - - - - - - - - - -
15521.83 521.33 11.23 1771 15523.16 no move 1.46 - - 2503.75 - - - 2179.00 - 107.88 - - 2050.78 - - - - - - - - - - -
15821.90 487.54 10.36 1801 15823.23 VBD 1.46 - - 2503.25 - - - 2179.12 - 107.88 - - 2051.88 - - - - - - - - - - -
16121.97 456.67 9.31 1831 16123.30 VBD 1.46 - - 2503.38 - - - 2179.06 - 107.88 - - 2051.50 - - - - - - - - - - -
16422.04 428.21 9.16 1861 16423.37 VBD 1.46 - - 2504.00 - - - 2179.19 - 107.88 - - 2049.88 - - - - - - - - - - -
16722.10 401.21 8.42 1891 16723.44 VBD 1.46 - - 2504.06 - - - 2179.19 - 107.88 - - 2050.38 - - - - - - - - - - -
17022.15 374.60 8.39 1921 17023.48 VBD 1.46 - - 2503.88 - - - 2179.75 - 107.88 - - 2049.81 - - - - - - - - - - -
17322.19 349.64 8.17 1951 17326.74 done 1.46 - - 2504.44 - 3.28 0.137 3474.62 394.8 107.88 - - 2050.94 - - - - - - - - - 16.06 -
17382.22 344.48 8.57 1963 17386.71 done 1.46 - - 2502.62 - 2.98 0.068 2177.75 -435.2 107.88 - - 2052.25 - - - - - - - - - 16.07 -
17692.26 320.30 7.38 1995 17693.59 VBD 1.48 - - 2503.06 - - - 2178.31 - 107.88 - - 2050.66 - - - - - - - - - - -
17992.30 297.04 8.23 2025 17996.97 done 1.48 - - 2503.00 - 3.22 0.133 3474.62 402.6 107.88 - - 2052.88 - - - - - - - - - 16.02 -
18126.15 285.30 7.90 2052 18132.68 done 1.48 - - 2503.88 - 2.97 0.067 2176.31 -437.1 107.88 - - 2051.16 - - - - - - - - - 16.07 -
18432.36 262.60 6.86 2083 18436.89 done 1.51 - - 2504.06 - 3.28 0.131 3475.44 396.1 107.88 - - 2051.12 - - - - - - - - - 16.08 -
18516.22 255.67 8.59 2100 18523.01 done 1.51 - - 2503.06 - 2.96 0.064 2175.75 -439.1 107.88 - - 2050.59 - - - - - - - - - 16.06 -
18822.40 232.31 7.70 2131 18823.74 VBD 1.51 - - 2504.25 - - - 2175.88 - 107.88 - - 2051.28 - - - - - - - - - - -
19122.43 208.19 8.13 2161 19127.13 done 1.51 - - 2504.25 - 3.28 0.129 3472.50 395.3 107.88 - - 2050.38 - - - - - - - - - 16.08 -
19352.50 188.22 8.70 2207 19357.00 done 1.51 - - 2503.75 - 3.05 0.064 2177.25 -424.7 107.88 - - 2050.06 - - - - - - - - - 16.08 -
19662.53 167.67 5.99 2239 19688.85 VBD 1.60 - - 2502.69 - - - 2177.94 - 137.28 25.16 1.300 1939.66 -4.4 0.094 - - - - - - - - 13.19
19982.56 141.03 7.87 2271 19983.89 no move 1.60 - - 2503.62 - - - 2178.69 - 137.28 - - 1934.12 - - - - - - - - - - -
20282.61 119.30 7.03 2301 20284.07 pitch 1.63 0.19 0.101 2543.44 209.6 - - 2178.12 - 137.28 - - 1933.84 - - - - - - - - 16.00 - -
20582.65 96.84 6.58 2335 20588.41 roll 1.67 - - 2543.88 - 3.70 0.145 734.19 -390.3 137.28 - - 1933.75 - - - - - - - - - 16.01 -
20812.81 83.07 3.36 2381 20874.66 1.87 0.32 0.080 2603.00 184.7 3.43 0.061 2227.81 435.5 204.17 54.34 1.225 1667.25 -4.9 0.055 - - - - - - 16.01 16.01 13.12
21052.87 68.40 8.43 2429 21058.60 roll 1.87 - - 2603.75 - 3.85 0.138 734.19 -388.0 204.17 - - 1661.00 - - - - - - - - - 15.84 -
21278.19 47.67 9.90 2474 21283.88 done 1.87 - - 2603.56 - 3.47 0.061 2225.12 429.7 204.17 - - 1658.53 - - - - - - - - - 15.89 -
21462.96 35.68 5.87 2511 21494.29 done 1.97 - - 2603.50 - 3.85 0.139 735.62 -386.9 235.25 25.95 1.108 1540.38 -4.6 0.024 - - - - - - - 15.78 13.03
21497.97 33.93 5.21 2518 21539.45 2.09 0.28 0.082 2653.50 178.6 3.46 0.055 2227.38 431.1 275.77 34.78 1.100 1376.91 -4.7 0.024 - - - - - - 15.79 15.82 13.09
21718.04 26.96 1.00 2562 21805.60 2.39 0.43 0.081 2726.56 169.9 3.91 0.137 735.69 -381.5 376.46 79.93 1.102 964.78 -5.2 0.021 - - - - - - 15.78 15.50 12.94
21838.42 18.22 13.86 2586 21844.32 roll 2.39 - - 2726.81 - 3.48 0.057 2224.75 427.9 376.46 - - 962.59 - - - - - - - - - 15.58 -
21963 end climb: SURFACE_DEPTH_REACHED
21963 begin surface coast
21973 end surface coast: CONTROL_FINISHED_OK
21973 begin surface
SM 0.24 - - - - 175.6 - 0.013 767.6 - 16.49 0.075 772.4 46.8 - 0.32 0.104 762.7 2372.6 -0.560 - - 30.36 15.65 15.67 -