NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 106 * Raw log
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• Previous call tries 2 • 35.67 of 350.00 AH used of 24V (89.81% remains)
• Surface angle -62.3 deg, depth 0.99 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 425.01 (SM_CC=425)
• GPS1 time: 31 s
• GPS2 time: 3 s • Transponder ping count: 2
• 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
6.46 - - - 74.52 VBD -1.25 - - 177.81 - - - 2118.00 - -77.86 67.49 0.005 2314.91 - - - - - - - - - - 15.66
74.80 3.13 -4.10 13 111.27 -1.25 13.68 0.271 1836.56 121.3 3.45 0.129 3473.62 392.9 -77.86 12.68 0.007 2816.53 39.6 -2.930 - - - - - - 15.58 15.64 15.70
144.03 18.62 -23.94 27 149.79 roll -1.25 - - 1836.50 - 3.46 0.069 2085.38 -401.2 -77.86 - - 2816.25 - - - - - - - - - 15.73 -
329.09 53.41 -14.46 64 334.82 roll -1.25 - - 1836.12 - 3.47 0.124 3474.94 400.4 -77.86 - - 2817.81 - - - - - - - - - 15.78 -
544.17 89.57 -15.73 107 549.88 roll -1.25 - - 1836.44 - 3.38 0.066 2082.88 -411.9 -77.86 - - 2817.06 - - - - - - - - - 15.83 -
729.19 110.27 -10.03 134 734.93 roll -1.25 - - 1834.69 - 3.92 0.168 662.25 -362.4 -77.86 - - 2819.28 - - - - - - - - - 15.85 -
774.22 115.63 -12.30 143 778.79 roll -1.25 - - 1836.44 - 3.43 0.062 2120.94 425.3 -77.86 - - 2818.12 - - - - - - - - - 15.88 -
1084.23 145.98 -10.61 175 1089.98 roll -1.25 - - 1836.19 - 3.99 0.164 662.38 -365.6 -77.86 - - 2818.78 - - - - - - - - - 15.89 -
1283.22 171.16 -12.67 215 1290.02 roll -1.25 - - 1836.44 - 3.45 0.066 2119.19 422.3 -77.86 - - 2818.34 - - - - - - - - - 15.95 -
1589.33 204.44 -11.15 246 1590.65 no move -1.25 - - 1836.44 - - - 2118.94 - -77.86 - - 2818.84 - - - - - - - - - - -
1889.32 236.43 -10.98 276 1890.65 no move -1.25 - - 1836.38 - - - 2118.88 - -77.86 - - 2818.44 - - - - - - - - - - -
2189.35 271.28 -12.00 306 2195.09 roll -1.25 - - 1836.38 - 3.95 0.168 663.25 -368.5 -77.86 - - 2816.47 - - - - - - - - - 15.99 -
2234.37 277.74 -14.98 315 2238.94 roll -1.25 - - 1836.69 - 3.40 0.066 2121.31 428.8 -77.86 - - 2818.66 - - - - - - - - - 16.02 -
2544.38 314.76 -10.82 347 2549.01 roll -1.25 - - 1836.62 - 3.38 0.132 3476.06 400.8 -77.86 - - 2818.28 - - - - - - - - - 16.03 -
2588.31 320.75 -12.47 356 2595.13 roll -1.25 - - 1836.50 - 3.40 0.070 2083.69 -409.5 -77.86 - - 2817.88 - - - - - - - - - 16.05 -
2894.41 355.38 -11.20 387 2895.73 no move -1.25 - - 1836.25 - - - 2083.31 - -77.86 - - 2818.09 - - - - - - - - - - -
3194.43 387.77 -10.63 417 3200.17 roll -1.25 - - 1836.12 - 3.94 0.175 663.12 -360.5 -77.86 - - 2816.31 - - - - - - - - - 16.03 -
3299.45 401.41 -12.44 438 3304.04 roll -1.25 - - 1836.38 - 3.46 0.069 2121.19 421.4 -77.86 - - 2818.69 - - - - - - - - - 16.06 -
3609.48 433.26 -10.04 470 3610.81 no move -1.25 - - 1836.81 - - - 2121.12 - -77.86 - - 2817.78 - - - - - - - - - - -
3909.49 462.97 -9.99 500 3915.26 roll -1.25 - - 1836.88 - 4.02 0.174 662.31 -362.9 -77.86 - - 2814.94 - - - - - - - - - 16.05 -
4008.36 475.60 -12.13 520 4015.26 roll -1.25 - - 1836.75 - 3.44 0.070 2119.69 423.7 -77.86 - - 2816.47 - - - - - - - - - 16.08 -
4314.68 508.60 -10.39 551 4316.01 no move -1.25 - - 1836.12 - - - 2120.12 - -77.86 - - 2816.44 - - - - - - - - - - -
4614.56 540.23 -11.19 581 4620.33 roll -1.25 - - 1836.88 - 4.05 0.179 664.19 -359.5 -77.86 - - 2814.81 - - - - - - - - - 16.06 -
4669.58 546.88 -12.92 592 4674.24 roll -1.25 - - 1836.00 - 3.44 0.074 2118.31 422.7 -77.86 - - 2817.25 - - - - - - - - - 16.09 -
4979.59 578.69 -9.32 624 4980.91 no move -1.25 - - 1836.56 - - - 2118.38 - -77.86 - - 2815.44 - - - - - - - - - - -
5279.61 606.92 -9.58 654 5280.94 no move -1.25 - - 1836.38 - - - 2118.19 - -77.86 - - 2814.75 - - - - - - - - - - -
5579.62 634.89 -10.07 684 5580.95 no move -1.25 - - 1836.38 - - - 2117.88 - -77.86 - - 2814.78 - - - - - - - - - - -
5879.65 664.07 -10.40 714 5885.44 roll -1.25 - - 1836.44 - 4.05 0.185 663.12 -359.2 -77.86 - - 2814.09 - - - - - - - - - 16.08 -
5994.67 677.28 -11.91 737 5999.33 roll -1.25 - - 1836.62 - 3.47 0.078 2116.88 419.0 -77.86 - - 2812.75 - - - - - - - - - 16.11 -
6304.70 707.87 -9.89 769 6306.03 no move -1.25 - - 1836.44 - - - 2116.69 - -77.86 - - 2811.94 - - - - - - - - - - -
6604.75 734.15 -8.67 799 6606.08 no move -1.25 - - 1836.75 - - - 2116.88 - -77.86 - - 2813.12 - - - - - - - - - - -
6904.80 759.63 -8.16 829 6906.12 no move -1.25 - - 1836.25 - - - 2116.44 - -77.86 - - 2812.06 - - - - - - - - - - -
7204.85 785.04 -8.69 859 7206.18 no move -1.25 - - 1836.50 - - - 2116.81 - -77.86 - - 2811.53 - - - - - - - - - - -
7504.90 810.48 -8.19 889 7509.55 roll -1.25 - - 1837.00 - 3.45 0.148 3472.75 393.0 -77.86 - - 2810.56 - - - - - - - - - 16.10 -
7548.84 815.09 -10.73 898 7555.63 roll -1.25 - - 1836.38 - 3.39 0.083 2086.50 -408.9 -77.86 - - 2811.72 - - - - - - - - - 16.12 -
7854.97 841.74 -8.69 929 7856.30 no move -1.25 - - 1836.31 - - - 2086.75 - -77.86 - - 2810.66 - - - - - - - - - - -
8155.01 867.19 -8.84 959 8156.34 no move -1.25 - - 1836.19 - - - 2086.56 - -77.86 - - 2808.47 - - - - - - - - - - -
8455.05 892.03 -7.43 989 8456.38 no move -1.25 - - 1836.19 - - - 2086.69 - -77.86 - - 2808.94 - - - - - - - - - - -
8755.11 916.75 -8.35 1019 8760.92 roll -1.25 - - 1835.62 - 3.56 0.148 3474.25 389.8 -77.86 - - 2808.97 - - - - - - - - - 16.11 -
8790.13 919.70 -8.46 1026 8794.92 roll -1.25 - - 1835.88 - 3.45 0.084 2085.81 -402.4 -77.86 - - 2810.53 - - - - - - - - - 16.11 -
9100.17 944.09 -8.05 1058 9101.50 no move -1.25 - - 1836.56 - - - 2086.31 - -77.86 - - 2807.03 - - - - - - - - - - -
9400.22 966.18 -5.36 1088 9405.88 roll -1.25 - - 1836.25 - 3.59 0.150 3472.12 386.0 -77.86 - - 2806.75 - - - - - - - - - 16.11 -
9449.14 971.26 -9.98 1098 9455.96 roll -1.25 - - 1836.44 - 3.42 0.085 2087.12 -405.0 -77.86 - - 2808.44 - - - - - - - - - 16.12 -
9696 end dive: TARGET_DEPTH_EXCEEDED
9696 begin apogee
9696.47 990.19 -7.25 1123 9766.89 -0.25 1.73 0.161 2080.06 140.8 0.07 0.334 2187.31 1431.3 - 64.57 2.280 2498.69 -4.8 0.345 - - - - - - 16.07 15.59 13.19
9768 end apogee: CONTROL_FINISHED_OK
9768 begin climb
9768.12 992.69 - 1130 9847.04 1.25 2.50 0.099 2447.56 147.0 - - 2188.94 - 77.86 72.57 2.219 2181.78 -4.4 0.324 - - - - - - 15.64 - 12.88
10145.41 959.72 11.37 1168 10149.99 done 1.25 - - 2447.38 - 3.41 0.146 3473.00 376.6 77.86 - - 2170.59 - - - - - - - - - 15.65 -
10225.31 951.61 9.50 1184 10229.84 done 1.25 - - 2447.12 - 3.29 0.074 2184.81 -391.5 77.86 - - 2170.34 - - - - - - - - - 15.71 -
10535.33 923.13 9.07 1216 10540.04 done 1.25 - - 2447.25 - 3.38 0.144 3474.12 381.5 77.86 - - 2166.38 - - - - - - - - - 15.80 -
10639.33 913.34 9.44 1237 10646.06 done 1.25 - - 2448.12 - 3.21 0.073 2184.94 -401.6 77.86 - - 2165.88 - - - - - - - - - 15.85 -
10945.39 886.93 8.57 1268 10946.72 VBD 1.25 - - 2447.56 - - - 2185.12 - 77.86 - - 2163.66 - - - - - - - - - - -
11245.42 859.93 8.66 1298 11250.13 done 1.25 - - 2447.25 - 3.33 0.145 3473.19 386.8 77.86 - - 2163.59 - - - - - - - - - 15.92 -
11385.45 844.80 10.77 1326 11390.07 done 1.25 - - 2447.25 - 3.19 0.072 2184.00 -404.1 77.86 - - 2164.94 - - - - - - - - - 15.95 -
11695.50 817.36 8.50 1358 11696.83 VBD 1.25 - - 2447.00 - - - 2184.25 - 77.86 - - 2162.16 - - - - - - - - - - -
11995.53 789.63 9.13 1388 12000.23 done 1.25 - - 2446.38 - 3.34 0.143 3473.75 386.1 77.86 - - 2164.56 - - - - - - - - - 15.99 -
12145.56 772.80 11.63 1418 12150.09 done 1.25 - - 2446.19 - 3.18 0.075 2182.62 -406.0 77.86 - - 2163.75 - - - - - - - - - 16.01 -
12455.60 742.72 8.90 1450 12456.93 VBD 1.25 - - 2447.56 - - - 2182.75 - 77.86 - - 2160.31 - - - - - - - - - - -
12755.63 716.56 9.63 1480 12756.97 VBD 1.25 - - 2447.12 - - - 2182.06 - 77.86 - - 2161.56 - - - - - - - - - - -
13055.68 692.47 6.96 1510 13057.02 VBD 1.29 - - 2447.75 - - - 2183.00 - 77.86 - - 2159.56 - - - - - - - - - - -
13355.72 667.22 8.91 1540 13357.05 VBD 1.29 - - 2447.31 - - - 2183.00 - 77.86 - - 2161.12 - - - - - - - - - - -
13655.78 643.32 7.99 1570 13660.39 done 1.29 - - 2447.94 - 3.30 0.143 3473.00 390.9 77.86 - - 2160.66 - - - - - - - - - 16.05 -
13765.90 634.36 8.20 1592 13770.53 done 1.29 - - 2447.56 - 3.18 0.070 2182.50 -405.8 77.86 - - 2160.69 - - - - - - - - - 16.06 -
14075.91 613.80 5.83 1624 14106.28 1.38 0.16 0.119 2484.19 228.9 - - 2182.94 - 109.58 26.26 1.798 2053.12 -4.1 0.232 - - - - - - 16.06 - 13.04
14405.96 583.59 9.43 1657 14407.28 no move 1.38 - - 2482.38 - - - 2182.75 - 109.58 - - 2047.41 - - - - - - - - - - -
14706.00 556.59 8.81 1687 14710.57 done 1.38 - - 2484.31 - 3.35 0.141 3474.19 385.5 109.58 - - 2045.22 - - - - - - - - - 15.98 -
14819.89 544.12 11.05 1710 14826.74 roll 1.38 - - 2482.75 - 3.18 0.071 2183.25 -406.0 109.58 - - 2046.78 - - - - - - - - - 16.00 -
15126.12 513.25 10.97 1741 15127.46 VBD 1.38 - - 2484.44 - - - 2182.69 - 109.58 - - 2042.91 - - - - - - - - - - -
15426.18 483.68 8.44 1771 15427.51 VBD 1.38 - - 2484.19 - - - 2182.88 - 109.58 - - 2043.72 - - - - - - - - - - -
15726.22 457.41 8.24 1801 15727.55 VBD 1.38 - - 2484.50 - - - 2182.94 - 109.58 - - 2044.56 - - - - - - - - - - -
16026.25 430.21 8.35 1831 16027.59 VBD 1.38 - - 2484.06 - - - 2183.12 - 109.58 - - 2042.44 - - - - - - - - - - -
16326.29 406.29 8.75 1861 16327.62 VBD 1.38 - - 2483.75 - - - 2182.81 - 109.58 - - 2042.38 - - - - - - - - - - -
16626.34 383.48 7.39 1891 16627.67 VBD 1.40 - - 2483.88 - - - 2182.75 - 109.58 - - 2043.88 - - - - - - - - - - -
16926.38 362.17 7.42 1921 16927.71 VBD 1.42 - - 2484.06 - - - 2183.62 - 109.58 - - 2044.03 - - - - - - - - - - -
17226.41 341.58 7.45 1951 17231.10 done 1.44 - - 2484.12 - 3.33 0.137 3473.94 387.5 109.58 - - 2044.62 - - - - - - - - - 16.06 -
17366.43 330.73 7.77 1979 17370.96 done 1.44 - - 2484.06 - 3.18 0.067 2179.25 -407.1 109.58 - - 2043.72 - - - - - - - - - 16.08 -
17676.48 309.39 6.62 2011 17682.47 done 1.48 - - 2484.25 - 3.90 0.149 736.31 -370.0 109.58 - - 2042.62 - - - - - - - - - 16.06 -
17905.38 289.27 8.56 2057 17912.26 done 1.48 - - 2484.62 - 3.49 0.065 2223.12 426.0 109.58 - - 2042.53 - - - - - - - - - 16.08 -
18211.57 265.80 7.12 2088 18212.91 VBD 1.51 - - 2484.00 - - - 2223.62 - 109.58 - - 2042.88 - - - - - - - - - - -
18511.61 242.86 7.26 2118 18517.50 1.53 0.15 0.110 2518.94 232.9 4.01 0.143 735.62 -371.1 109.58 - - 2043.03 - - - - - - - - 16.08 16.07 -
18616.62 232.90 9.44 2139 18622.22 done 1.53 - - 2521.12 - 3.51 0.064 2223.69 424.0 109.58 - - 2042.47 - - - - - - - - - 16.06 -
18921.67 209.77 7.25 2170 18923.01 VBD 1.56 - - 2520.62 - - - 2224.06 - 109.58 - - 2043.00 - - - - - - - - - - -
19221.71 187.75 7.47 2200 19227.37 done 1.57 - - 2520.50 - 3.98 0.139 735.06 -374.1 109.58 - - 2042.78 - - - - - - - - - 16.07 -
19326.74 178.98 8.22 2221 19332.32 done 1.57 - - 2520.06 - 3.48 0.062 2225.06 428.2 109.58 - - 2042.53 - - - - - - - - - 16.07 -
19631.81 157.99 6.66 2252 19636.32 done 1.61 - - 2520.44 - 3.15 0.130 3474.00 396.5 109.58 - - 2041.81 - - - - - - - - - 16.05 -
19721.84 150.72 8.22 2270 19726.37 done 1.61 - - 2519.94 - 3.14 0.061 2178.44 -412.6 109.58 - - 2042.97 - - - - - - - - - 16.08 -
20031.90 125.40 8.11 2302 20037.69 done 1.61 - - 2519.81 - 3.88 0.142 735.62 -371.9 109.58 - - 2042.19 - - - - - - - - - 16.07 -
20260.90 107.24 6.07 2348 20267.78 1.67 0.15 0.109 2556.00 241.3 3.45 0.061 2225.25 431.8 109.58 - - 2043.03 - - - - - - - - 16.05 16.07 -
20567.09 97.78 2.64 2388 20635.30 1.91 0.28 0.088 2610.31 194.0 4.03 0.138 735.50 -369.7 186.74 61.94 1.228 1735.50 -5.0 0.065 - - - - - - 16.05 15.79 13.20
20858.16 66.16 10.71 2446 20863.90 done 1.91 - - 2611.00 - 3.54 0.061 2223.19 420.3 186.74 - - 1729.66 - - - - - - - - - 15.89 -
21043.23 53.81 5.28 2483 21080.58 done 2.02 - - 2609.44 - 3.23 0.129 3474.12 387.3 226.34 32.16 1.131 1576.25 -4.8 0.038 - - - - - - - 15.75 13.03
21118.42 49.99 5.15 2498 21159.94 2.15 0.32 0.088 2667.38 181.1 3.19 0.058 2180.06 -405.7 267.79 34.52 1.109 1406.91 -4.9 0.037 - - - - - - 15.79 15.81 13.03
21338.36 34.29 7.04 2542 21344.17 roll 2.18 - - 2667.12 - 3.96 0.139 735.62 -364.8 267.79 - - 1401.88 - - - - - - - - - 15.76 -
21438.40 27.38 6.93 2562 21444.14 roll 2.21 - - 2667.62 - 3.54 0.056 2226.50 421.2 267.79 - - 1401.00 - - - - - - - - - 15.81 -
21623.44 18.82 4.62 2599 21670.17 2.36 0.28 0.087 2718.75 182.6 3.20 0.125 3473.06 389.5 316.69 39.95 1.077 1208.53 -4.8 0.014 - - - - - - 15.84 15.67 13.05
21779 end climb: SURFACE_DEPTH_REACHED
21779 begin surface coast
21794 end surface coast: CONTROL_FINISHED_OK
21794 begin surface
SM 0.88 - - - - 179.1 - - 767.4 - 16.25 0.076 771.1 47.4 - 3.38 0.061 763.7 225.0 -0.332 - - 30.00 15.74 15.77 -