NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 316 * Raw log
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• Previous call tries 1 • 96.97 of 575.00 AH used of 24V (83.14% remains)
• Surface angle -61.2 deg, depth 0.67 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.70 (SM_CC=425)
• GPS1 time: 23 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
6.81 - - - 80.24 VBD -1.25 - - 174.00 - - - 2116.81 - -77.86 72.83 0.005 2396.59 - - - - - - - - - - 15.57
80.50 3.33 -3.83 14 113.44 -1.25 14.00 0.264 1836.94 118.8 3.81 0.119 3473.56 356.1 -77.86 10.81 0.007 2817.97 39.0 -3.131 - - - - - - 15.59 15.54 15.59
161.19 20.49 -23.06 30 166.96 roll -1.25 - - 1837.00 - 3.59 0.062 2084.81 -386.8 -77.86 - - 2816.00 - - - - - - - - - 15.72 -
346.25 59.25 -20.58 67 352.08 roll -1.25 - - 1837.19 - 4.07 0.158 663.88 -349.1 -77.86 - - 2816.09 - - - - - - - - - 15.76 -
391.26 67.70 -17.91 76 397.01 roll -1.25 - - 1837.19 - 3.58 0.055 2118.12 406.2 -77.86 - - 2816.19 - - - - - - - - - 15.80 -
576.30 92.65 -12.41 113 577.63 no move -1.25 - - 1837.00 - - - 2118.69 - -77.86 - - 2816.41 - - - - - - - - - - -
761.39 115.22 -10.62 137 767.12 roll -1.25 - - 1837.06 - 4.18 0.151 662.50 -348.4 -77.86 - - 2814.84 - - - - - - - - - 15.85 -
796.34 119.31 -11.68 144 801.94 roll -1.25 - - 1836.75 - 3.55 0.054 2119.69 410.5 -77.86 - - 2815.09 - - - - - - - - - 15.87 -
1101.36 152.05 -11.09 175 1102.69 no move -1.25 - - 1837.50 - - - 2119.19 - -77.86 - - 2817.09 - - - - - - - - - - -
1401.39 186.60 -10.92 205 1407.09 roll -1.25 - - 1837.44 - 3.66 0.117 3472.06 369.6 -77.86 - - 2814.97 - - - - - - - - - 15.94 -
1526.41 202.38 -12.60 230 1531.09 roll -1.25 - - 1836.69 - 3.48 0.061 2082.25 -399.4 -77.86 - - 2817.72 - - - - - - - - - 15.96 -
1836.45 235.58 -10.83 262 1837.78 no move -1.25 - - 1836.88 - - - 2082.38 - -77.86 - - 2818.00 - - - - - - - - - - -
2136.48 267.77 -10.81 292 2137.81 no move -1.25 - - 1836.50 - - - 2082.69 - -77.86 - - 2817.91 - - - - - - - - - - -
2436.52 301.70 -10.38 322 2442.28 roll -1.25 - - 1836.56 - 4.07 0.159 662.56 -348.9 -77.86 - - 2819.69 - - - - - - - - - 15.98 -
2485.38 308.19 -12.51 332 2492.37 roll -1.25 - - 1836.94 - 3.56 0.060 2117.88 408.8 -77.86 - - 2817.84 - - - - - - - - - 16.01 -
2791.57 343.02 -11.49 363 2792.90 no move -1.25 - - 1837.12 - - - 2118.12 - -77.86 - - 2817.78 - - - - - - - - - - -
3091.60 376.18 -11.06 393 3092.93 no move -1.25 - - 1837.38 - - - 2118.25 - -77.86 - - 2816.56 - - - - - - - - - - -
3391.65 404.47 -9.09 423 3392.97 no move -1.25 - - 1837.12 - - - 2118.44 - -77.86 - - 2817.72 - - - - - - - - - - -
3691.71 432.02 -9.10 453 3693.03 no move -1.25 - - 1837.06 - - - 2117.75 - -77.86 - - 2816.94 - - - - - - - - - - -
3991.77 460.82 -10.02 483 3997.55 roll -1.25 - - 1836.44 - 4.18 0.163 662.94 -348.0 -77.86 - - 2818.94 - - - - - - - - - 16.01 -
4130.77 478.03 -13.14 511 4137.58 roll -1.25 - - 1836.81 - 3.56 0.063 2117.75 408.7 -77.86 - - 2816.41 - - - - - - - - - 16.04 -
4436.88 509.26 -10.36 542 4438.21 no move -1.25 - - 1837.19 - - - 2118.31 - -77.86 - - 2816.62 - - - - - - - - - - -
4736.94 538.27 -10.07 572 4738.27 no move -1.25 - - 1837.44 - - - 2118.44 - -77.86 - - 2814.00 - - - - - - - - - - -
5037.00 566.82 -9.33 602 5042.79 roll -1.25 - - 1837.56 - 4.18 0.167 663.62 -348.0 -77.86 - - 2814.38 - - - - - - - - - 16.02 -
5072.03 570.80 -11.72 609 5077.70 roll -1.25 - - 1836.62 - 3.56 0.061 2117.94 408.5 -77.86 - - 2815.31 - - - - - - - - - 16.05 -
5377.08 598.30 -8.98 640 5378.41 no move -1.25 - - 1836.94 - - - 2117.56 - -77.86 - - 2813.25 - - - - - - - - - - -
5677.12 623.94 -9.79 670 5678.46 no move -1.25 - - 1837.00 - - - 2117.56 - -77.86 - - 2813.12 - - - - - - - - - - -
5977.16 652.58 -9.82 700 5978.48 no move -1.25 - - 1837.06 - - - 2117.75 - -77.86 - - 2814.47 - - - - - - - - - - -
6277.19 680.69 -9.14 730 6282.98 roll -1.25 - - 1837.06 - 4.20 0.173 663.69 -346.2 -77.86 - - 2812.34 - - - - - - - - - 16.02 -
6336.19 687.24 -11.11 742 6342.98 roll -1.25 - - 1836.75 - 3.59 0.067 2117.06 404.8 -77.86 - - 2814.12 - - - - - - - - - 16.05 -
6642.24 712.88 -6.96 773 6643.57 no move -1.25 - - 1837.12 - - - 2117.00 - -77.86 - - 2813.59 - - - - - - - - - - -
6942.27 736.80 -8.22 803 6943.60 no move -1.25 - - 1837.25 - - - 2116.88 - -77.86 - - 2812.97 - - - - - - - - - - -
7242.31 760.84 -9.34 833 7243.63 no move -1.25 - - 1837.19 - - - 2117.00 - -77.86 - - 2812.31 - - - - - - - - - - -
7542.36 788.16 -9.39 863 7543.69 no move -1.25 - - 1836.75 - - - 2117.31 - -77.86 - - 2812.44 - - - - - - - - - - -
7842.36 814.70 -8.85 893 7848.16 roll -1.25 - - 1837.06 - 4.23 0.177 663.38 -343.7 -77.86 - - 2810.47 - - - - - - - - - 16.01 -
7887.44 819.47 -10.44 902 7893.05 roll -1.25 - - 1836.69 - 3.58 0.069 2115.81 405.7 -77.86 - - 2811.25 - - - - - - - - - 16.05 -
8192.42 846.28 -8.79 933 8193.75 no move -1.25 - - 1836.75 - - - 2115.81 - -77.86 - - 2811.88 - - - - - - - - - - -
8492.44 871.89 -8.71 963 8493.77 no move -1.25 - - 1835.88 - - - 2116.00 - -77.86 - - 2813.56 - - - - - - - - - - -
8792.48 897.59 -8.56 993 8793.82 no move -1.25 - - 1836.44 - - - 2116.12 - -77.86 - - 2811.69 - - - - - - - - - - -
9092.51 921.94 -8.15 1023 9093.84 no move -1.25 - - 1836.75 - - - 2116.19 - -77.86 - - 2810.31 - - - - - - - - - - -
9392.55 945.71 -8.57 1053 9398.48 roll -1.25 - - 1835.56 - 4.24 0.181 664.62 -342.4 -77.86 - - 2813.03 - - - - - - - - - 16.01 -
9437.62 949.79 -10.13 1062 9443.23 roll -1.25 - - 1836.69 - 3.60 0.073 2113.19 402.4 -77.86 - - 2810.94 - - - - - - - - - 16.05 -
9742.59 974.59 -8.36 1093 9743.92 no move -1.25 - - 1836.94 - - - 2114.06 - -77.86 - - 2810.47 - - - - - - - - - - -
9932 end dive: TARGET_DEPTH_EXCEEDED
9932 begin apogee
9933.86 990.16 -6.97 1112 10003.81 -0.25 1.75 0.155 2080.75 139.3 0.07 0.320 2188.06 1057.1 - 64.46 2.305 2500.88 -4.8 0.348 - - - - - - 15.99 15.58 12.69
10005 end apogee: CONTROL_FINISHED_OK
10005 begin climb
10005.51 991.90 - 1119 10084.00 1.25 2.52 0.097 2446.12 145.0 - - 2187.62 - 77.86 71.53 2.254 2183.50 -4.4 0.330 - - - - - - 15.62 - 12.86
10382.73 960.64 9.99 1157 10384.06 VBD 1.25 - - 2446.25 - - - 2186.81 - 77.86 - - 2168.94 - - - - - - - - - - -
10682.72 931.21 9.76 1187 10688.48 done 1.25 - - 2446.25 - 3.63 0.134 3473.06 354.3 77.86 - - 2168.06 - - - - - - - - - 15.78 -
10747.76 924.29 9.61 1200 10752.51 done 1.25 - - 2446.25 - 3.33 0.067 2183.06 -387.4 77.86 - - 2167.41 - - - - - - - - - 15.80 -
11057.81 897.61 8.74 1232 11059.14 VBD 1.25 - - 2446.44 - - - 2184.00 - 77.86 - - 2166.47 - - - - - - - - - - -
11357.86 872.85 9.22 1262 11359.20 VBD 1.25 - - 2446.50 - - - 2183.94 - 77.86 - - 2165.47 - - - - - - - - - - -
11657.92 846.42 8.57 1292 11659.25 VBD 1.25 - - 2447.31 - - - 2184.12 - 77.86 - - 2164.69 - - - - - - - - - - -
11957.99 820.80 8.96 1322 11963.61 done 1.25 - - 2445.75 - 3.62 0.131 3472.94 356.0 77.86 - - 2163.91 - - - - - - - - - 15.95 -
12023.03 815.15 9.21 1335 12027.56 done 1.25 - - 2446.19 - 3.29 0.065 2182.50 -392.2 77.86 - - 2164.62 - - - - - - - - - 15.96 -
12333.08 790.29 8.35 1367 12334.41 VBD 1.25 - - 2446.12 - - - 2182.44 - 77.86 - - 2163.09 - - - - - - - - - - -
12633.12 767.23 7.86 1397 12638.73 done 1.25 - - 2446.50 - 3.59 0.131 3472.38 359.3 77.86 - - 2163.31 - - - - - - - - - 15.98 -
12728.24 758.62 9.40 1416 12732.97 done 1.25 - - 2446.25 - 3.27 0.063 2182.06 -394.6 77.86 - - 2162.91 - - - - - - - - - 15.98 -
13038.18 733.97 8.40 1448 13039.51 VBD 1.25 - - 2446.19 - - - 2182.44 - 77.86 - - 2162.84 - - - - - - - - - - -
13338.22 709.75 7.89 1478 13339.55 VBD 1.25 - - 2446.44 - - - 2182.19 - 77.86 - - 2162.38 - - - - - - - - - - -
13638.25 684.21 9.16 1508 13644.02 done 1.25 - - 2445.88 - 4.08 0.147 737.06 -354.2 77.86 - - 2162.06 - - - - - - - - - 15.99 -
13727.19 675.44 9.94 1526 13734.04 done 1.25 - - 2444.88 - 3.65 0.061 2219.81 406.2 77.86 - - 2162.53 - - - - - - - - - 16.00 -
14033.33 651.63 7.03 1557 14034.66 VBD 1.28 - - 2446.50 - - - 2219.56 - 77.86 - - 2160.66 - - - - - - - - - - -
14333.35 633.19 4.88 1587 14379.06 1.42 0.23 0.091 2494.38 208.2 4.22 0.145 737.00 -351.3 123.16 38.47 1.869 1996.09 -4.3 0.245 - - - - - - 16.00 15.76 12.80
14453.53 621.18 11.23 1611 14459.07 roll 1.42 - - 2493.88 - 3.70 0.061 2217.12 400.0 123.16 - - 1992.75 - - - - - - - - - 15.83 -
14758.40 588.90 10.22 1642 14759.73 VBD 1.42 - - 2494.31 - - - 2217.88 - 123.16 - - 1989.25 - - - - - - - - - - -
15058.43 555.75 11.71 1672 15064.01 done 1.42 - - 2493.75 - 3.50 0.129 3472.94 358.6 123.16 - - 1987.09 - - - - - - - - - 15.91 -
15187.29 539.30 13.42 1698 15194.17 done 1.42 - - 2493.50 - 3.27 0.063 2183.69 -394.3 123.16 - - 1988.09 - - - - - - - - - 15.93 -
15493.48 503.50 11.76 1729 15494.81 VBD 1.42 - - 2493.56 - - - 2183.81 - 123.16 - - 1987.62 - - - - - - - - - - -
15793.51 471.14 10.61 1759 15794.84 VBD 1.42 - - 2494.06 - - - 2183.75 - 123.16 - - 1986.25 - - - - - - - - - - -
16093.56 439.02 9.93 1789 16099.33 done 1.42 - - 2493.56 - 4.05 0.145 737.31 -357.1 123.16 - - 1986.44 - - - - - - - - - 15.96 -
16198.58 425.96 13.39 1810 16204.21 done 1.42 - - 2494.19 - 3.65 0.060 2219.50 406.1 123.16 - - 1985.34 - - - - - - - - - 15.97 -
16503.64 396.82 9.59 1841 16508.19 done 1.42 - - 2494.25 - 3.44 0.125 3475.62 365.2 123.16 - - 1986.22 - - - - - - - - - 15.98 -
16693.69 375.44 10.71 1879 16698.24 done 1.42 - - 2493.81 - 3.24 0.060 2180.31 -399.8 123.16 - - 1986.31 - - - - - - - - - 16.00 -
17003.76 345.53 9.47 1911 17005.09 VBD 1.42 - - 2494.38 - - - 2181.31 - 123.16 - - 1985.97 - - - - - - - - - - -
17303.81 317.72 8.71 1941 17305.15 VBD 1.42 - - 2493.75 - - - 2181.38 - 123.16 - - 1984.31 - - - - - - - - - - -
17603.87 292.00 8.77 1971 17605.20 VBD 1.42 - - 2493.88 - - - 2181.25 - 123.16 - - 1984.56 - - - - - - - - - - -
17903.93 265.39 9.53 2001 17905.26 VBD 1.42 - - 2493.44 - - - 2180.81 - 123.16 - - 1987.38 - - - - - - - - - - -
18203.99 240.67 7.89 2031 18209.82 done 1.42 - - 2494.19 - 4.03 0.139 736.19 -358.5 123.16 - - 1984.53 - - - - - - - - - 15.97 -
18312.95 230.07 10.04 2053 18319.79 done 1.42 - - 2493.81 - 3.60 0.058 2221.06 412.5 123.16 - - 1984.97 - - - - - - - - - 16.00 -
18619.10 206.00 8.28 2084 18620.43 VBD 1.42 - - 2494.00 - - - 2221.38 - 123.16 - - 1985.41 - - - - - - - - - - -
18919.13 182.03 8.18 2114 18920.46 VBD 1.42 - - 2494.56 - - - 2221.12 - 123.16 - - 1985.44 - - - - - - - - - - -
19219.18 160.25 6.79 2144 19220.51 VBD 1.46 - - 2494.56 - - - 2220.75 - 123.16 - - 1983.59 - - - - - - - - - - -
19519.22 138.91 6.67 2174 19525.05 done 1.50 - - 2494.38 - 4.11 0.134 737.12 -361.0 123.16 - - 1987.28 - - - - - - - - - 15.98 -
19568.14 135.48 6.86 2184 19574.99 done 1.53 - - 2493.69 - 3.62 0.056 2222.88 410.4 123.16 - - 1986.59 - - - - - - - - - 16.01 -
19874.27 115.66 6.53 2215 19879.89 1.58 0.17 0.100 2531.19 220.6 3.43 0.117 3473.94 364.7 123.16 - - 1985.72 - - - - - - - - 16.00 15.99 -
19933.19 111.65 6.66 2227 19939.98 done 1.62 - - 2533.50 - 3.22 0.054 2177.88 -402.5 123.16 - - 1985.22 - - - - - - - - - 16.02 -
20239.33 96.12 3.58 2268 20296.24 1.81 0.28 0.084 2588.62 196.9 3.59 0.115 3472.56 360.6 186.93 51.40 1.238 1736.59 -4.8 0.063 - - - - - - 15.99 15.78 12.78
20519.36 72.08 8.13 2324 20525.06 roll 1.81 - - 2588.75 - 3.25 0.055 2178.31 -398.2 186.93 - - 1730.94 - - - - - - - - - 15.86 -
20704.42 62.67 3.73 2361 20755.55 2.00 0.22 0.092 2632.88 200.6 - - 2178.25 - 248.57 50.04 1.158 1486.12 -4.9 0.045 - - - - - - 15.86 - 12.69
20934.47 47.93 6.52 2407 20940.20 roll 2.04 - - 2633.38 - 3.59 0.113 3473.00 360.7 248.57 - - 1479.38 - - - - - - - - - 15.79 -
21164.51 29.31 9.65 2453 21170.20 done 2.04 - - 2632.69 - 3.26 0.055 2180.38 -396.5 248.57 - - 1479.09 - - - - - - - - - 15.82 -
21349.54 13.06 8.80 2490 21355.29 done 2.04 - - 2632.62 - 3.55 0.111 3473.06 364.1 248.57 - - 1477.69 - - - - - - - - - 15.84 -
21459 end climb: SURFACE_DEPTH_REACHED
21459 begin surface coast
21464 end surface coast: CONTROL_FINISHED_OK
21464 begin surface
SM 0.93 - - - - 175.1 0.70 0.146 768.7 1098.1 16.25 0.097 767.4 47.2 - 3.44 0.054 769.9 222.8 -0.392 - - 15.44 15.82 15.89 -