NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 518 * Raw log
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• Previous call tries 2 • 155.09 of 575.00 AH used of 24V (73.03% remains)
• Surface angle -63.0 deg, depth 0.88 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.68 (SM_CC=425)
• GPS1 time: 29 s
• GPS2 time: 2 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
7.21 - - - 86.28 VBD -1.25 - - 174.31 - - - 2115.88 - -77.86 78.52 0.005 2474.62 - - - - - - - - - - 15.14
86.55 3.23 -3.73 15 118.51 -1.25 14.55 0.258 1835.94 114.2 4.20 0.153 663.25 -345.9 -77.86 8.77 0.007 2816.31 39.0 -3.119 - - - - - - 15.33 15.14 15.24
341.38 59.79 -22.74 66 347.13 roll -1.25 - - 1836.12 - 3.60 0.054 2118.81 404.3 -77.86 - - 2816.16 - - - - - - - - - 15.62 -
526.41 89.91 -11.49 103 532.27 roll -1.25 - - 1835.88 - 4.11 0.145 662.12 -354.4 -77.86 - - 2818.78 - - - - - - - - - 15.56 -
626.43 102.95 -14.20 123 632.05 roll -1.25 - - 1835.31 - 3.52 0.050 2122.50 414.9 -77.86 - - 2815.09 - - - - - - - - - 15.69 -
931.47 136.49 -10.68 154 936.22 roll -1.25 - - 1835.69 - 3.63 0.110 3474.62 372.5 -77.86 - - 2818.44 - - - - - - - - - 15.69 -
1105.35 157.15 -11.45 189 1112.23 roll -1.25 - - 1835.38 - 3.37 0.057 2080.88 -413.6 -77.86 - - 2816.81 - - - - - - - - - 15.76 -
1411.54 189.92 -10.26 220 1417.36 roll -1.25 - - 1836.00 - 3.99 0.150 662.06 -355.6 -77.86 - - 2815.06 - - - - - - - - - 15.65 -
1456.57 195.14 -12.08 229 1461.20 roll -1.25 - - 1835.81 - 3.50 0.050 2121.25 416.9 -77.86 - - 2817.94 - - - - - - - - - 15.78 -
1766.59 227.70 -10.77 261 1772.21 roll -1.25 - - 1836.06 - 3.61 0.111 3474.00 374.7 -77.86 - - 2819.66 - - - - - - - - - 15.73 -
1795.45 230.95 -11.19 267 1802.32 roll -1.25 - - 1835.94 - 3.35 0.056 2081.31 -415.7 -77.86 - - 2817.12 - - - - - - - - - 15.80 -
2101.65 264.32 -11.38 298 2102.98 no move -1.25 - - 1836.12 - - - 2080.56 - -77.86 - - 2817.25 - - - - - - - - - - -
2401.70 296.96 -10.96 328 2407.48 roll -1.25 - - 1835.56 - 3.78 0.112 3474.88 368.9 -77.86 - - 2818.34 - - - - - - - - - 15.75 -
2466.74 304.42 -11.83 341 2471.29 roll -1.25 - - 1835.81 - 3.38 0.060 2081.81 -412.2 -77.86 - - 2819.28 - - - - - - - - - 15.81 -
2776.78 335.87 -9.64 373 2782.61 roll -1.25 - - 1835.69 - 4.01 0.155 663.50 -353.7 -77.86 - - 2814.88 - - - - - - - - - 15.66 -
2811.81 339.88 -11.35 380 2817.41 roll -1.25 - - 1835.75 - 3.51 0.053 2119.56 414.8 -77.86 - - 2815.97 - - - - - - - - - 15.82 -
3116.85 370.01 -10.49 411 3122.61 roll -1.25 - - 1835.75 - 3.65 0.117 3473.81 371.0 -77.86 - - 2819.03 - - - - - - - - - 15.74 -
3191.91 378.36 -11.32 426 3196.45 roll -1.25 - - 1836.31 - 3.38 0.060 2082.00 -411.8 -77.86 - - 2817.03 - - - - - - - - - 15.81 -
3501.94 408.63 -9.79 458 3507.58 roll -1.25 - - 1836.19 - 3.78 0.114 3474.75 368.5 -77.86 - - 2817.16 - - - - - - - - - 15.74 -
3550.81 413.91 -10.87 468 3557.67 roll -1.25 - - 1835.62 - 3.37 0.059 2083.38 -412.9 -77.86 - - 2817.88 - - - - - - - - - 15.81 -
3857.00 443.21 -9.17 499 3858.33 no move -1.25 - - 1835.88 - - - 2082.88 - -77.86 - - 2817.19 - - - - - - - - - - -
4157.05 472.57 -9.42 529 4162.88 roll -1.25 - - 1836.00 - 4.01 0.157 663.69 -353.9 -77.86 - - 2814.69 - - - - - - - - - 15.65 -
4252.09 483.41 -10.91 548 4257.70 roll -1.25 - - 1836.00 - 3.51 0.052 2120.00 414.9 -77.86 - - 2815.59 - - - - - - - - - 15.84 -
4557.14 513.05 -9.70 579 4562.98 roll -1.25 - - 1835.75 - 4.11 0.154 664.12 -354.2 -77.86 - - 2814.38 - - - - - - - - - 15.65 -
4622.21 520.15 -11.37 592 4627.74 roll -1.25 - - 1835.44 - 3.48 0.052 2119.38 418.2 -77.86 - - 2818.03 - - - - - - - - - 15.83 -
4927.18 550.20 -9.80 623 4932.87 roll -1.25 - - 1835.38 - 3.64 0.117 3474.00 372.1 -77.86 - - 2816.12 - - - - - - - - - 15.72 -
5026.12 560.91 -11.55 643 5032.93 roll -1.25 - - 1835.81 - 3.38 0.061 2083.31 -411.4 -77.86 - - 2815.41 - - - - - - - - - 15.80 -
5332.24 590.02 -9.02 674 5338.03 roll -1.25 - - 1835.00 - 3.79 0.117 3473.56 366.8 -77.86 - - 2817.16 - - - - - - - - - 15.71 -
5381.11 595.64 -10.82 684 5387.98 roll -1.25 - - 1835.75 - 3.39 0.060 2083.25 -410.1 -77.86 - - 2816.69 - - - - - - - - - 15.80 -
5687.29 624.42 -9.83 715 5693.12 roll -1.25 - - 1835.62 - 4.05 0.159 663.19 -350.6 -77.86 - - 2816.75 - - - - - - - - - 15.62 -
5822.32 640.56 -11.81 742 5827.92 roll -1.25 - - 1835.69 - 3.51 0.054 2120.50 415.2 -77.86 - - 2815.84 - - - - - - - - - 15.83 -
6127.35 670.81 -10.47 773 6133.12 roll -1.25 - - 1835.38 - 3.67 0.120 3475.25 369.1 -77.86 - - 2812.69 - - - - - - - - - 15.71 -
6266.22 685.97 -10.61 801 6273.10 roll -1.25 - - 1835.69 - 3.39 0.063 2084.94 -410.1 -77.86 - - 2814.25 - - - - - - - - - 15.79 -
6572.41 715.59 -8.85 832 6578.24 roll -1.25 - - 1835.69 - 4.07 0.163 663.06 -349.4 -77.86 - - 2811.72 - - - - - - - - - 15.61 -
6641.47 722.80 -10.66 846 6648.19 roll -1.25 - - 1835.81 - 3.52 0.056 2118.31 413.4 -77.86 - - 2814.16 - - - - - - - - - 15.82 -
6947.46 750.53 -9.46 877 6953.21 roll -1.25 - - 1835.50 - 3.68 0.121 3473.62 368.3 -77.86 - - 2813.53 - - - - - - - - - 15.70 -
6962.46 751.94 -8.09 880 6967.04 roll -1.25 - - 1835.62 - 3.38 0.061 2083.38 -411.3 -77.86 - - 2813.03 - - - - - - - - - 15.78 -
7272.49 778.13 -8.23 912 7278.27 roll -1.25 - - 1835.62 - 3.80 0.121 3475.06 366.2 -77.86 - - 2812.22 - - - - - - - - - 15.68 -
7321.37 782.31 -9.24 922 7328.36 roll -1.25 - - 1835.62 - 3.38 0.065 2083.50 -411.7 -77.86 - - 2815.38 - - - - - - - - - 15.76 -
7517 end dive: TARGET_DEPTH_EXCEEDED
7517 begin apogee
7519.00 799.14 -8.42 942 7589.35 -0.25 1.83 0.147 2080.31 133.7 0.08 0.268 2184.56 1263.2 - 66.68 2.016 2498.94 -4.7 0.326 - - - - - - 15.70 15.14 11.71
7591 end apogee: CONTROL_FINISHED_OK
7591 begin climb
7591.42 800.59 - 949 7675.87 1.25 2.65 0.091 2448.19 138.8 4.28 0.143 738.19 -337.9 77.86 72.88 1.978 2180.03 -4.4 0.307 - - - - - - 15.21 14.84 12.30
7677.71 797.22 4.16 965 7736.62 1.42 0.23 0.077 2493.38 196.5 3.76 0.049 2219.38 393.9 133.41 53.66 1.928 1955.41 -4.2 0.300 - - - - - - 15.02 15.01 12.17
8039.41 759.23 11.97 1007 8043.98 done 1.42 - - 2493.06 - 3.46 0.124 3473.25 362.4 133.41 - - 1946.47 - - - - - - - - - 15.46 -
8109.44 750.48 12.84 1021 8114.09 done 1.42 - - 2493.50 - 3.21 0.058 2183.44 -401.8 133.41 - - 1943.25 - - - - - - - - - 15.45 -
8419.44 714.91 11.40 1053 8420.77 VBD 1.42 - - 2493.56 - - - 2182.88 - 133.41 - - 1941.50 - - - - - - - - - - -
8719.73 683.97 10.80 1083 8725.31 done 1.42 - - 2494.06 - 4.02 0.142 735.88 -360.0 133.41 - - 1938.97 - - - - - - - - - 15.61 -
8748.40 680.59 10.69 1089 8755.24 done 1.42 - - 2493.88 - 3.57 0.053 2218.88 415.4 133.41 - - 1938.59 - - - - - - - - - 15.72 -
9054.51 646.78 11.41 1120 9059.09 done 1.42 - - 2493.19 - 3.43 0.125 3474.62 366.1 133.41 - - 1938.31 - - - - - - - - - 15.67 -
9094.53 642.21 11.40 1128 9099.05 done 1.42 - - 2492.88 - 3.14 0.057 2179.69 -412.4 133.41 - - 1938.06 - - - - - - - - - 15.74 -
9404.55 606.94 11.89 1160 9410.36 done 1.42 - - 2492.81 - 3.97 0.139 736.31 -363.6 133.41 - - 1939.38 - - - - - - - - - 15.66 -
9499.57 594.37 13.45 1179 9504.34 done 1.42 - - 2493.81 - 3.59 0.053 2220.56 413.4 133.41 - - 1937.41 - - - - - - - - - 15.77 -
9809.61 558.60 11.99 1211 9814.17 done 1.42 - - 2493.19 - 3.39 0.121 3473.06 369.5 133.41 - - 1937.94 - - - - - - - - - 15.69 -
9849.62 553.76 13.05 1219 9854.16 done 1.42 - - 2494.25 - 3.12 0.056 2181.62 -413.9 133.41 - - 1936.88 - - - - - - - - - 15.67 -
10159.68 519.73 10.91 1251 10161.02 VBD 1.42 - - 2493.50 - - - 2181.31 - 133.41 - - 1936.41 - - - - - - - - - - -
10459.74 486.31 10.80 1281 10465.56 done 1.42 - - 2494.19 - 3.96 0.138 737.19 -364.7 133.41 - - 1936.12 - - - - - - - - - 15.66 -
10578.70 471.77 12.33 1305 10585.55 done 1.42 - - 2492.88 - 3.56 0.052 2220.88 416.8 133.41 - - 1935.62 - - - - - - - - - 15.72 -
10884.85 441.40 9.17 1336 10890.68 done 1.42 - - 2494.25 - 4.06 0.134 734.88 -366.0 133.41 - - 1937.53 - - - - - - - - - 15.66 -
10983.80 431.06 10.76 1356 10990.64 done 1.42 - - 2494.44 - 3.54 0.052 2222.56 420.2 133.41 - - 1937.25 - - - - - - - - - 15.79 -
11289.95 406.09 8.06 1387 11294.65 done 1.42 - - 2493.75 - 3.37 0.119 3473.56 371.2 133.41 - - 1934.78 - - - - - - - - - 15.66 -
11359.99 400.04 8.52 1401 11364.51 done 1.42 - - 2492.50 - 3.12 0.053 2178.19 -415.2 133.41 - - 1934.94 - - - - - - - - - 15.69 -
11670.06 377.12 7.21 1433 11671.39 VBD 1.44 - - 2494.06 - - - 2179.12 - 133.41 - - 1934.78 - - - - - - - - - - -
11970.10 353.95 8.33 1463 11975.92 done 1.44 - - 2492.56 - 3.95 0.136 735.31 -365.5 133.41 - - 1936.50 - - - - - - - - - 15.64 -
12075.13 343.84 9.75 1484 12080.74 done 1.44 - - 2494.25 - 3.54 0.051 2222.19 420.0 133.41 - - 1934.34 - - - - - - - - - 15.78 -
12380.18 319.61 8.06 1515 12381.51 VBD 1.44 - - 2493.50 - - - 2222.31 - 133.41 - - 1933.25 - - - - - - - - - - -
12680.20 295.76 8.20 1545 12686.03 done 1.44 - - 2494.38 - 4.07 0.130 736.25 -365.1 133.41 - - 1932.72 - - - - - - - - - 15.65 -
12765.21 287.24 10.35 1562 12769.95 done 1.44 - - 2494.31 - 3.57 0.051 2220.06 415.6 133.41 - - 1932.25 - - - - - - - - - 15.76 -
13075.26 261.00 8.42 1594 13081.22 done 1.44 - - 2494.50 - 4.07 0.129 736.44 -364.5 133.41 - - 1932.62 - - - - - - - - - 15.64 -
13174.17 251.38 9.83 1614 13181.04 done 1.44 - - 2494.06 - 3.55 0.049 2223.50 418.9 133.41 - - 1934.31 - - - - - - - - - 15.79 -
13480.31 224.79 8.94 1645 13484.86 done 1.44 - - 2494.25 - 3.37 0.115 3474.44 371.2 133.41 - - 1933.69 - - - - - - - - - 15.67 -
13530.33 220.03 9.98 1655 13534.84 done 1.44 - - 2493.56 - 3.11 0.050 2175.81 -417.6 133.41 - - 1934.66 - - - - - - - - - 15.78 -
13840.35 193.65 8.74 1687 13846.17 done 1.44 - - 2493.94 - 3.95 0.131 736.12 -364.5 133.41 - - 1932.69 - - - - - - - - - 15.62 -
13875.38 190.39 9.75 1694 13880.97 done 1.44 - - 2494.31 - 3.57 0.049 2223.25 416.6 133.41 - - 1932.28 - - - - - - - - - 15.76 -
14180.42 167.57 7.14 1725 14186.15 done 1.47 - - 2493.88 - 4.07 0.127 735.38 -365.6 133.41 - - 1932.25 - - - - - - - - - 15.61 -
14299.31 157.37 9.22 1749 14306.17 done 1.47 - - 2493.81 - 3.60 0.048 2224.94 413.8 133.41 - - 1935.72 - - - - - - - - - 15.59 -
14605.47 140.71 4.46 1780 14652.25 1.63 0.25 0.082 2543.12 197.2 4.12 0.127 734.94 -361.7 184.72 40.86 1.263 1747.44 -4.6 0.089 - - - - - - 15.75 15.49 11.80
14680.47 135.62 8.33 1795 14686.21 roll 1.63 - - 2542.69 - 3.62 0.048 2224.62 411.5 184.72 - - 1743.72 - - - - - - - - - 15.55 -
14985.49 107.05 9.36 1826 14991.31 roll 1.63 - - 2542.31 - 4.09 0.126 734.94 -364.2 184.72 - - 1738.78 - - - - - - - - - 15.44 -
15140.52 92.88 7.91 1857 15146.30 roll 1.63 - - 2541.06 - 3.61 0.049 2225.19 412.8 184.72 - - 1739.12 - - - - - - - - - 15.58 -
15325.58 81.61 5.58 1894 15362.27 done 1.73 - - 2542.25 - 3.40 0.113 3474.31 367.4 219.97 30.20 1.158 1603.44 -4.5 0.055 - - - - - - - 15.47 11.95
15585.62 68.91 3.48 1946 15647.54 1.93 0.43 0.068 2615.62 170.6 3.15 0.047 2174.31 -412.7 285.19 54.58 1.146 1336.56 -4.9 0.051 - - - - - - 15.45 15.60 12.02
15825.76 52.95 8.61 1994 15831.44 roll 1.93 - - 2615.31 - 3.58 0.108 3473.88 363.0 285.19 - - 1330.94 - - - - - - - - - 15.39 -
15895.73 46.49 9.54 2008 15901.55 roll 1.93 - - 2615.62 - 3.17 0.049 2179.19 -408.4 285.19 - - 1330.66 - - - - - - - - - 15.55 -
16080.81 28.49 9.94 2045 16082.14 no move 1.93 - - 2614.88 - - - 2179.75 - 285.19 - - 1329.78 - - - - - - - - - - -
16260.88 9.46 11.12 2081 16266.73 done 1.93 - - 2614.50 - 3.98 0.128 736.44 -362.6 285.19 - - 1329.34 - - - - - - - - - 15.58 -
16315.91 2.39 13.13 2092 16321.80 done 1.93 - - 2615.56 - 3.59 0.047 2224.75 414.6 285.19 - - 1329.72 - - - - - - - - - 15.62 -
16325 end climb: SURFACE_DEPTH_REACHED
16325 begin surface coast
16340 end surface coast: CONTROL_FINISHED_OK
16340 begin surface
SM 0.78 - - - - 173.9 0.04 0.298 768.8 19220.0 16.27 0.057 764.8 47.0 - 0.34 0.083 772.7 2262.1 -2.173 - - 15.16 15.64 15.68 -