NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 19 * Raw log
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• Previous call tries 1 • 8.80 of 350.00 AH used of 24V (97.48% remains)
• Surface angle -63.2 deg, depth 0.98 m • Intended pitch -16.7 deg, speed -8.684 cm/s
• No surface pump (final VBD was 552.4, SM_CC=525)
• GPS1 time: 18 s
• GPS2 time: 2 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
6.09 - - - 74.26 VBD -0.82 - - 177.62 - - - 2085.19 - -126.52 67.71 0.005 2173.12 - - - - - - - - - - 15.63
74.50 3.29 -4.19 13 117.06 -0.82 14.03 0.273 1979.44 128.4 - - 2084.94 - -126.52 24.94 0.006 3263.38 43.7 -4.038 - - - - - - 15.57 - 15.67
294.88 36.02 -9.46 57 300.61 roll -0.89 - - 1979.25 - 3.71 0.171 661.62 -383.6 -126.52 - - 3265.56 - - - - - - - - - 15.74 -
319.91 38.64 -10.34 62 325.63 roll back -0.95 0.30 0.087 1933.06 -154.0 3.32 0.066 2086.69 429.2 -126.52 - - 3264.81 - - - - - - - - 15.75 15.77 -
504.96 60.57 -11.69 99 510.65 roll -0.95 - - 1933.69 - 3.43 0.132 3475.25 404.8 -126.52 - - 3265.06 - - - - - - - - - 15.80 -
559.97 67.67 -12.76 110 565.66 roll -0.95 - - 1933.62 - 3.38 0.073 2048.31 -422.2 -126.52 - - 3267.88 - - - - - - - - - 15.84 -
745.05 90.40 -12.55 147 750.77 roll -0.95 - - 1933.50 - 3.53 0.133 3474.38 404.0 -126.52 - - 3266.47 - - - - - - - - - 15.83 -
825.07 100.05 -11.76 163 829.67 roll -0.95 - - 1933.44 - 3.37 0.075 2049.38 -422.8 -126.52 - - 3266.59 - - - - - - - - - 15.88 -
1135.12 130.41 -9.08 195 1140.78 roll -1.00 - - 1933.50 - 3.61 0.182 662.94 -384.1 -126.52 - - 3268.12 - - - - - - - - - 15.90 -
1164.05 133.58 -9.89 201 1170.77 roll -1.00 - - 1933.62 - 3.30 0.069 2086.75 431.5 -126.52 - - 3267.41 - - - - - - - - - 15.93 -
1470.17 163.03 -8.79 232 1474.77 roll -1.05 - - 1933.12 - 3.40 0.137 3473.69 407.9 -126.52 - - 3267.38 - - - - - - - - - 15.96 -
1500.17 166.05 -9.34 238 1504.78 roll -1.09 - - 1933.19 - 3.35 0.077 2049.69 -425.1 -126.52 - - 3265.91 - - - - - - - - - 15.97 -
1810.20 193.49 -8.85 270 1815.92 roll back -1.15 0.22 0.098 1886.25 -213.4 3.51 0.138 3474.75 406.0 -126.52 - - 3266.94 - - - - - - - - 15.99 15.98 -
1855.25 198.24 -11.21 279 1860.89 roll back -1.11 0.22 0.189 1909.50 105.7 3.35 0.079 2048.38 -425.8 -126.52 - - 3266.91 - - - - - - - - 15.95 15.99 -
2160.24 224.94 -9.19 310 2164.87 roll -1.15 - - 1912.31 - 3.51 0.140 3474.44 406.3 -126.52 - - 3266.75 - - - - - - - - - 16.01 -
2220.26 230.89 -9.63 322 2224.86 roll -1.19 - - 1911.88 - 3.33 0.080 2050.12 -427.7 -126.52 - - 3266.56 - - - - - - - - - 16.02 -
2530.28 260.29 -9.33 354 2535.98 roll back -1.24 0.28 0.093 1863.44 -173.0 3.50 0.141 3474.62 407.0 -126.52 - - 3264.88 - - - - - - - - 16.02 16.03 -
2565.30 264.23 -11.64 361 2570.98 roll back -1.19 0.23 0.189 1889.81 114.7 3.35 0.081 2049.81 -425.3 -126.52 - - 3266.31 - - - - - - - - 15.99 16.03 -
2870.30 295.37 -10.92 392 2874.93 roll -1.19 - - 1891.81 - 3.49 0.143 3474.19 408.1 -126.52 - - 3267.53 - - - - - - - - - 16.04 -
2894.31 298.00 -10.93 397 2901.00 roll -1.19 - - 1892.06 - 3.34 0.082 2049.19 -426.6 -126.52 - - 3265.22 - - - - - - - - - 16.05 -
3200.34 330.65 -9.41 428 3204.97 roll -1.19 - - 1891.69 - 3.49 0.144 3475.50 408.7 -126.52 - - 3267.12 - - - - - - - - - 16.06 -
3250.35 336.06 -10.96 438 3254.97 roll -1.19 - - 1892.00 - 3.34 0.083 2049.88 -426.8 -126.52 - - 3265.38 - - - - - - - - - 16.06 -
3560.40 366.38 -9.49 470 3565.03 roll -1.23 - - 1891.75 - 3.49 0.145 3474.06 408.1 -126.52 - - 3264.28 - - - - - - - - - 16.07 -
3600.39 370.81 -10.82 478 3605.00 roll -1.23 - - 1891.69 - 3.32 0.083 2050.25 -428.9 -126.52 - - 3265.19 - - - - - - - - - 16.08 -
3910.44 400.44 -9.38 510 3911.77 no move -1.27 - - 1892.06 - - - 2049.88 - -126.52 - - 3263.56 - - - - - - - - - - -
4210.48 430.99 -11.38 540 4216.17 roll back -1.31 0.25 0.097 1847.25 -179.2 3.50 0.149 3474.06 406.9 -126.52 - - 3263.84 - - - - - - - - 16.09 16.08 -
4295.49 441.78 -13.94 557 4301.17 roll back -1.25 0.25 0.190 1878.25 124.0 3.35 0.090 2051.75 -424.6 -126.52 - - 3265.03 - - - - - - - - 16.05 16.09 -
4600.52 473.24 -10.01 588 4605.16 roll -1.25 - - 1878.12 - 3.51 0.150 3474.62 405.4 -126.52 - - 3263.50 - - - - - - - - - 16.09 -
4654.53 478.73 -10.68 599 4661.22 roll -1.25 - - 1878.06 - 3.35 0.089 2052.25 -424.6 -126.52 - - 3263.38 - - - - - - - - - 16.10 -
4960.59 508.20 -9.81 630 4961.91 no move -1.25 - - 1878.75 - - - 2052.56 - -126.52 - - 3261.44 - - - - - - - - - - -
5260.66 536.63 -9.15 660 5265.30 roll -1.28 - - 1878.00 - 3.51 0.152 3474.62 405.1 -126.52 - - 3261.75 - - - - - - - - - 16.10 -
5304.67 541.42 -10.84 669 5311.36 roll -1.28 - - 1878.00 - 3.35 0.090 2050.50 -425.1 -126.52 - - 3260.50 - - - - - - - - - 16.12 -
5610.74 568.55 -9.31 700 5612.07 no move -1.32 - - 1877.94 - - - 2050.25 - -126.52 - - 3260.56 - - - - - - - - - - -
5910.81 594.66 -8.96 730 5916.52 roll back -1.36 0.25 0.101 1837.06 -163.5 3.51 0.154 3475.31 406.0 -126.52 - - 3259.69 - - - - - - - - 16.11 16.11 -
5969.87 602.07 -14.61 742 5976.58 roll back -1.29 0.26 0.194 1868.31 120.2 3.36 0.093 2051.81 -423.7 -126.52 - - 3261.06 - - - - - - - - 16.06 16.12 -
6275.88 631.19 -9.95 773 6280.52 roll -1.29 - - 1867.88 - 3.51 0.155 3474.31 405.3 -126.52 - - 3260.47 - - - - - - - - - 16.11 -
6325.90 636.42 -10.01 783 6330.51 roll -1.29 - - 1868.44 - 3.35 0.095 2052.75 -424.3 -126.52 - - 3259.28 - - - - - - - - - 16.11 -
6635.95 668.95 -11.08 815 6637.28 no move -1.29 - - 1868.38 - - - 2052.06 - -126.52 - - 3258.28 - - - - - - - - - - -
6936.03 698.60 -9.25 845 6940.71 roll -1.32 - - 1868.31 - 3.51 0.157 3474.81 405.3 -126.52 - - 3259.50 - - - - - - - - - 16.12 -
6970.03 702.49 -11.09 852 6976.72 roll -1.32 - - 1866.81 - 3.35 0.095 2051.94 -424.7 -126.52 - - 3259.78 - - - - - - - - - 16.13 -
7276.09 732.76 -10.79 883 7280.74 roll -1.36 - - 1868.06 - 3.51 0.158 3474.50 405.3 -126.52 - - 3258.88 - - - - - - - - - 16.12 -
7306.08 735.78 -11.17 889 7310.70 roll -1.36 - - 1868.12 - 3.36 0.096 2052.25 -423.3 -126.52 - - 3258.72 - - - - - - - - - 16.14 -
7616.13 767.35 -9.48 921 7621.84 roll back -1.40 0.24 0.103 1825.81 -176.3 3.51 0.158 3474.06 405.1 -126.52 - - 3258.41 - - - - - - - - 16.11 16.11 -
7651.14 771.15 -11.95 928 7656.82 roll back -1.34 0.24 0.202 1857.19 130.8 3.36 0.098 2053.12 -422.9 -126.52 - - 3255.50 - - - - - - - - 16.08 16.13 -
7956.16 802.24 -10.20 959 7957.48 no move -1.34 - - 1857.50 - - - 2053.12 - -126.52 - - 3257.66 - - - - - - - - - - -
8256.18 828.94 -9.51 989 8260.84 roll -1.34 - - 1857.38 - 3.51 0.161 3473.06 404.5 -126.52 - - 3257.09 - - - - - - - - - 16.12 -
8276.19 830.37 -8.87 993 8280.81 roll -1.34 - - 1856.50 - 3.37 0.098 2052.31 -421.6 -126.52 - - 3257.38 - - - - - - - - - 16.12 -
8586.25 858.39 -8.61 1025 8590.88 roll -1.34 - - 1857.00 - 3.53 0.162 3474.31 402.8 -126.52 - - 3256.53 - - - - - - - - - 16.12 -
8626.24 862.19 -10.45 1033 8630.89 roll -1.34 - - 1857.81 - 3.37 0.098 2051.81 -422.1 -126.52 - - 3255.94 - - - - - - - - - 16.13 -
8936.29 889.18 -8.90 1065 8937.62 no move -1.37 - - 1856.69 - - - 2051.81 - -126.52 - - 3256.00 - - - - - - - - - - -
9236.32 917.49 -9.82 1095 9240.95 roll -1.41 - - 1857.12 - 3.55 0.163 3474.69 400.8 -126.52 - - 3257.53 - - - - - - - - - 16.12 -
9276.32 920.80 -9.34 1103 9280.93 roll -1.41 - - 1856.88 - 3.37 0.099 2053.38 -421.8 -126.52 - - 3257.75 - - - - - - - - - 16.13 -
9586.36 949.67 -9.95 1135 9587.81 pitch -1.45 0.25 0.104 1816.50 -161.5 - - 2053.25 - -126.52 - - 3257.31 - - - - - - - - 16.13 - -
9886.40 984.08 -11.84 1165 9887.73 no move -1.40 - - 1816.62 - - - 2053.38 - -126.52 - - 3254.72 - - - - - - - - - - -
9946 end dive: TARGET_DEPTH_EXCEEDED
9946 begin apogee
9947.51 991.30 -12.66 1171 10054.58 -0.20 2.22 0.168 2132.56 142.3 0.06 0.369 2055.38 - - 103.82 2.344 2748.06 -4.9 0.348 - - - - - - 16.10 15.36 13.22
10055 end apogee: CONTROL_FINISHED_OK
10055 begin climb
10055.66 992.57 - 1181 10175.20 0.82 1.64 0.087 2386.38 154.8 - - 2054.62 - 126.52 115.21 2.279 2231.91 -4.5 0.329 - - - - - - 15.40 - 12.75
10478.64 977.19 6.05 1231 10534.22 done 0.86 - - 2385.31 - 3.73 0.159 3473.06 380.3 182.81 49.74 2.208 2003.47 -4.6 0.342 - - - - - - - 15.23 12.88
10708.71 956.60 8.59 1277 10713.39 roll 0.81 - - 2385.81 - 3.50 0.096 2053.75 -405.5 184.73 - - 1994.31 - - - - - - - - - 15.55 -
11018.76 928.65 8.55 1309 11024.51 roll 0.81 - - 2384.38 - 3.71 0.204 662.88 -374.9 187.65 - - 1989.59 - - - - - - - - - 15.70 -
11073.80 922.65 11.01 1320 11079.55 roll back 0.70 0.37 0.192 2345.00 -106.4 3.38 0.081 2083.25 420.2 187.65 - - 1989.25 - - - - - - - - 15.70 15.75 -
11378.86 901.27 6.67 1351 11426.37 0.85 0.32 0.102 2390.50 142.2 3.58 0.159 3473.38 388.3 230.74 41.88 2.160 1809.62 -4.3 0.302 - - - - - - 15.83 15.50 13.01
11504.10 888.72 11.76 1376 11508.93 roll 0.85 - - 2390.81 - 3.49 0.096 2051.94 -407.3 230.74 - - 1802.06 - - - - - - - - - 15.63 -
11814.13 854.77 11.90 1408 11815.46 VBD 0.85 - - 2390.69 - - - 2052.31 - 230.74 - - 1798.19 - - - - - - - - - - -
12114.16 824.62 9.52 1438 12115.49 VBD 0.85 - - 2390.25 - - - 2052.31 - 230.74 - - 1796.53 - - - - - - - - - - -
12414.19 793.66 9.21 1468 12419.79 done 0.85 - - 2390.88 - 3.57 0.155 3473.12 398.0 230.74 - - 1794.88 - - - - - - - - - 15.89 -
12509.21 783.13 10.94 1487 12513.92 done 0.85 - - 2390.62 - 3.41 0.094 2051.81 -416.8 230.74 - - 1796.97 - - - - - - - - - 15.92 -
12819.26 754.32 9.30 1519 12824.00 done 0.85 - - 2388.94 - 3.55 0.153 3471.62 399.9 230.74 - - 1796.41 - - - - - - - - - 15.94 -
12893.14 745.93 11.56 1534 12900.10 done 0.85 - - 2390.19 - 3.39 0.092 2050.38 -419.2 230.74 - - 1795.97 - - - - - - - - - 15.97 -
13199.32 714.28 10.47 1565 13200.66 VBD 0.88 - - 2391.00 - - - 2050.44 - 230.74 - - 1794.50 - - - - - - - - - - -
13499.35 682.68 11.00 1595 13504.93 done 0.92 - - 2390.19 - 3.53 0.152 3472.62 402.9 230.74 - - 1794.09 - - - - - - - - - 16.00 -
13604.36 670.43 12.41 1616 13609.05 done 0.92 - - 2390.75 - 3.38 0.090 2049.31 -421.1 230.74 - - 1794.56 - - - - - - - - - 16.02 -
13914.41 638.42 10.52 1648 13915.75 VBD 0.96 - - 2390.44 - - - 2048.69 - 230.74 - - 1794.22 - - - - - - - - - - -
14214.45 610.19 8.31 1678 14226.37 1.01 0.22 0.115 2431.88 188.4 3.54 0.152 3475.50 403.1 238.70 6.86 1.361 1775.19 -2.8 0.210 - - - - - - 16.03 15.96 13.10
14289.46 601.56 11.87 1693 14295.08 roll back 0.93 0.28 0.210 2399.56 -115.4 3.36 0.088 2049.88 -424.3 238.70 - - 1775.16 - - - - - - - - 15.96 16.01 -
14594.51 574.17 8.22 1724 14607.21 VBD 0.99 - - 2400.12 - - - 2050.25 - 248.73 11.56 1.615 1734.25 -3.5 0.212 - - - - - - - - 13.17
14904.54 546.69 9.04 1755 14905.99 pitch 1.05 0.28 0.110 2437.94 135.1 - - 2049.69 - 248.73 - - 1731.59 - - - - - - - - 15.99 - -
15204.56 514.04 11.47 1785 15209.28 roll 1.05 - - 2439.38 - 3.51 0.146 3475.38 406.2 248.73 - - 1731.53 - - - - - - - - - 16.01 -
15288.67 503.20 11.75 1802 15295.28 roll 0.98 - - 2440.38 - 3.36 0.087 2049.19 -424.5 248.73 - - 1731.16 - - - - - - - - - 16.03 -
15594.67 467.71 11.09 1833 15599.39 roll 0.98 - - 2440.25 - 3.52 0.145 3473.19 404.5 248.73 - - 1730.69 - - - - - - - - - 16.03 -
15638.56 462.32 11.87 1842 15645.46 roll back 0.90 0.40 0.203 2392.75 -118.8 3.36 0.085 2047.56 -424.3 248.73 - - 1731.28 - - - - - - - - 15.98 16.04 -
15944.77 436.09 7.95 1873 15961.58 1.00 0.25 0.112 2425.25 130.0 - - 2047.69 - 264.53 15.42 1.572 1670.53 -3.9 0.184 - - - - - - 16.04 - 13.18
16254.86 404.82 10.01 1904 16259.54 roll 1.00 - - 2426.19 - 3.53 0.145 3474.25 404.1 264.53 - - 1667.00 - - - - - - - - - 15.99 -
16318.71 397.34 11.67 1917 16325.65 roll 0.97 - - 2428.06 - 3.37 0.084 2048.19 -423.2 264.53 - - 1666.19 - - - - - - - - - 16.00 -
16624.89 365.64 10.31 1948 16626.22 no move 0.97 - - 2427.88 - - - 2048.06 - 264.53 - - 1664.66 - - - - - - - - - - -
16924.95 332.80 11.29 1978 16929.67 roll 0.97 - - 2427.31 - 3.51 0.144 3473.38 406.1 264.53 - - 1666.62 - - - - - - - - - 16.03 -
17005.00 323.22 12.01 1994 17009.52 roll 0.97 - - 2427.56 - 3.36 0.084 2046.75 -424.6 264.53 - - 1665.81 - - - - - - - - - 16.02 -
17315.04 291.33 9.61 2026 17316.37 no move 0.97 - - 2427.38 - - - 2047.19 - 264.53 - - 1663.56 - - - - - - - - - - -
17615.08 261.90 9.56 2056 17619.78 roll 0.97 - - 2427.56 - 3.49 0.142 3474.56 409.0 264.53 - - 1666.50 - - - - - - - - - 16.05 -
17715.15 251.51 10.24 2076 17719.65 roll 0.97 - - 2427.69 - 3.34 0.082 2044.56 -428.1 264.53 - - 1664.16 - - - - - - - - - 16.06 -
18025.17 220.97 10.62 2108 18030.01 roll 1.00 - - 2427.62 - 3.53 0.178 662.69 -391.5 264.53 - - 1664.16 - - - - - - - - - 16.04 -
18075.17 215.07 12.84 2118 18079.81 roll 0.95 - - 2427.88 - 3.28 0.071 2088.69 434.8 264.53 - - 1664.41 - - - - - - - - - 16.07 -
18385.20 185.95 8.99 2150 18389.87 roll 0.99 - - 2427.81 - 3.39 0.141 3473.75 408.6 264.53 - - 1664.06 - - - - - - - - - 16.05 -
18439.06 180.71 9.98 2161 18446.01 roll 0.99 - - 2428.19 - 3.35 0.079 2047.25 -425.8 264.53 - - 1665.31 - - - - - - - - - 16.07 -
18745.24 153.29 9.00 2192 18746.58 VBD 1.03 - - 2428.25 - - - 2047.38 - 264.53 - - 1663.72 - - - - - - - - - - -
19045.27 125.82 9.24 2222 19049.82 roll 1.09 - - 2428.50 - 3.50 0.138 3475.00 407.9 264.53 - - 1664.69 - - - - - - - - - 16.06 -
19215.29 109.95 9.70 2256 19219.98 done 1.09 - - 2427.56 - 3.34 0.079 2047.62 -427.4 264.53 - - 1663.47 - - - - - - - - - 16.08 -
19520.43 88.50 6.62 2304 19563.08 1.22 0.30 0.101 2483.38 186.1 3.58 0.176 661.38 -387.2 308.63 36.58 1.296 1492.44 -4.7 0.054 - - - - - - 16.06 15.86 13.19
19640.82 76.84 10.57 2328 19646.47 roll 1.16 - - 2483.31 - 3.30 0.068 2091.56 433.4 308.63 - - 1489.16 - - - - - - - - - 15.93 -
19825.91 61.25 7.98 2365 19841.15 VBD 1.22 - - 2483.25 - - - 2091.12 - 323.63 13.90 1.149 1430.94 -4.2 0.038 - - - - - - - - 13.11
20021.03 44.82 7.45 2404 20051.62 done 1.33 - - 2483.62 - 3.43 0.137 3474.75 403.4 350.07 23.05 1.186 1322.22 -4.7 0.030 - - - - - - - 15.78 13.12
20091.21 40.01 7.02 2418 20127.47 1.42 0.25 0.104 2530.06 185.8 3.39 0.075 2047.94 -420.9 385.58 30.33 1.173 1178.34 -4.7 0.027 - - - - - - 15.82 15.84 13.03
20306.12 23.61 6.36 2461 20351.63 1.57 0.19 0.115 2568.19 200.7 - - 2047.38 - 435.26 41.77 1.167 975.34 -4.9 0.017 - - - - - - 15.80 - 12.93
20531.12 9.74 5.46 2506 20593.02 1.76 0.23 0.106 2612.31 191.8 3.61 0.132 3474.38 395.3 504.33 56.97 1.137 694.34 -4.9 0.007 - - - - - - 15.74 15.53 13.00
20596.21 5.16 7.45 2519 20627.42 done 1.83 - - 2612.44 - 3.45 0.072 2047.88 -413.5 530.80 23.59 1.046 586.22 -4.6 0.004 - - - - - - - 15.57 12.86
20631 end climb: SURFACE_DEPTH_REACHED
20631 begin surface coast
20651 end surface coast: CONTROL_FINISHED_OK
20651 begin surface
SM 1.27 - - - - 180.2 - - 584.2 - 15.98 0.099 615.9 38.5 - 0.06 0.177 552.4 9149.2 -6.710 - - 30.00 15.51 15.55 -