NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 12 * Raw log
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• Previous call tries 2 • 5.92 of 350.00 AH used of 24V (98.31% remains)
• Surface angle -64.9 deg, depth 0.95 m • Intended pitch -17.5 deg, speed -9.896 cm/s
• No surface pump (final VBD was 475.0, SM_CC=605.89099)
• GPS1 time: 2 s
• GPS2 time: 3 s • Transponder ping count: 9
• 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
6.13 - - - 79.48 VBD -0.88 - - 190.25 - - - 2078.50 - -145.99 72.81 0.005 2310.25 - - - - - - - - - - 15.95
79.73 3.73 -4.28 14 122.72 -0.88 13.54 0.271 1966.31 131.2 3.49 0.142 3473.44 399.7 -145.99 21.88 0.006 3346.47 47.4 -5.005 - - - - - - 15.86 15.89 15.96
170.42 20.01 -13.74 32 176.13 roll -0.88 - - 1964.75 - 3.43 0.076 2048.75 -415.4 -145.99 - - 3345.03 - - - - - - - - - 15.97 -
355.49 38.50 -11.08 69 356.81 no move -0.94 - - 1966.06 - - - 2048.62 - -145.99 - - 3344.69 - - - - - - - - - - -
535.53 58.18 -11.02 105 541.32 roll back -1.03 0.33 0.086 1914.94 -154.9 3.57 0.137 3475.06 399.6 -145.99 - - 3345.16 - - - - - - - - 15.98 15.98 -
555.53 60.46 -11.08 109 561.21 roll -1.08 - - 1914.88 - 3.38 0.077 2049.50 -421.8 -145.99 - - 3344.28 - - - - - - - - - 15.99 -
740.56 82.60 -11.31 146 746.31 roll -1.08 - - 1914.44 - 3.72 0.202 664.56 -372.3 -145.99 - - 3345.19 - - - - - - - - - 15.97 -
765.56 86.01 -12.75 151 771.24 roll -1.08 - - 1914.75 - 3.36 0.084 2081.81 421.8 -145.99 - - 3344.44 - - - - - - - - - 16.01 -
955.62 106.16 -10.55 183 960.24 roll -1.12 - - 1914.62 - 3.44 0.140 3475.38 405.1 -145.99 - - 3345.53 - - - - - - - - - 15.99 -
1029.56 114.87 -11.52 198 1036.32 roll -1.12 - - 1914.69 - 3.39 0.080 2052.31 -419.8 -145.99 - - 3346.28 - - - - - - - - - 16.03 -
1335.70 149.53 -10.61 229 1340.34 roll -1.16 - - 1914.44 - 3.53 0.144 3474.31 402.8 -145.99 - - 3344.66 - - - - - - - - - 16.04 -
1365.71 152.96 -10.61 235 1371.38 roll back -1.21 0.20 0.100 1870.81 -218.2 3.38 0.083 2052.75 -420.6 -145.99 - - 3343.28 - - - - - - - - 16.02 16.03 -
1670.76 190.19 -12.13 266 1675.40 roll -1.21 - - 1869.75 - 3.52 0.146 3474.06 403.8 -145.99 - - 3344.28 - - - - - - - - - 16.06 -
1700.81 194.12 -13.08 272 1705.40 roll -1.21 - - 1870.56 - 3.36 0.085 2052.06 -423.2 -145.99 - - 3343.69 - - - - - - - - - 16.06 -
2010.82 233.02 -12.23 304 2015.45 roll -1.21 - - 1870.56 - 3.50 0.149 3474.62 406.4 -145.99 - - 3344.22 - - - - - - - - - 16.07 -
2034.76 236.19 -12.48 309 2041.52 roll -1.21 - - 1870.44 - 3.36 0.084 2052.69 -423.2 -145.99 - - 3341.84 - - - - - - - - - 16.07 -
2340.89 274.75 -12.34 340 2345.54 roll -1.21 - - 1870.50 - 3.54 0.151 3475.00 401.8 -145.99 - - 3341.84 - - - - - - - - - 16.08 -
2384.84 280.22 -12.67 349 2391.60 roll -1.21 - - 1869.38 - 3.35 0.088 2053.31 -424.4 -145.99 - - 3341.62 - - - - - - - - - 16.09 -
2690.99 314.27 -11.89 380 2695.64 roll -1.21 - - 1870.62 - 3.55 0.153 3474.12 400.2 -145.99 - - 3341.41 - - - - - - - - - 16.09 -
2724.92 318.18 -12.05 387 2731.68 roll -1.21 - - 1870.31 - 3.36 0.091 2053.88 -422.7 -145.99 - - 3340.59 - - - - - - - - - 16.10 -
3031.04 352.26 -10.79 418 3035.75 roll -1.21 - - 1870.00 - 3.54 0.155 3473.88 401.1 -145.99 - - 3342.03 - - - - - - - - - 16.10 -
3055.01 355.26 -11.15 423 3061.75 roll -1.21 - - 1870.31 - 3.36 0.091 2053.38 -422.8 -145.99 - - 3339.53 - - - - - - - - - 16.10 -
3361.11 390.36 -12.11 454 3362.44 no move -1.21 - - 1870.00 - - - 2053.69 - -145.99 - - 3339.25 - - - - - - - - - - -
3661.16 424.59 -11.33 484 3665.81 roll -1.21 - - 1870.12 - 3.55 0.159 3474.38 400.2 -145.99 - - 3337.31 - - - - - - - - - 16.11 -
3721.17 431.90 -11.90 496 3725.80 roll -1.21 - - 1870.25 - 3.37 0.096 2053.50 -421.6 -145.99 - - 3337.31 - - - - - - - - - 16.12 -
4031.20 466.96 -11.78 528 4032.53 no move -1.21 - - 1870.06 - - - 2053.62 - -145.99 - - 3337.09 - - - - - - - - - - -
4331.25 500.50 -10.17 558 4332.58 no move -1.25 - - 1870.69 - - - 2052.88 - -145.99 - - 3336.44 - - - - - - - - - - -
4631.28 535.04 -11.18 588 4632.61 no move -1.29 - - 1870.31 - - - 2053.38 - -145.99 - - 3335.94 - - - - - - - - - - -
4931.32 569.49 -11.61 618 4932.64 no move -1.33 - - 1869.81 - - - 2053.31 - -145.99 - - 3334.91 - - - - - - - - - - -
5231.38 601.81 -9.81 648 5232.71 no move -1.38 - - 1869.38 - - - 2053.38 - -145.99 - - 3334.06 - - - - - - - - - - -
5531.40 631.27 -9.65 678 5537.13 roll back -1.43 0.25 0.101 1819.12 -201.0 3.58 0.169 3473.12 396.6 -145.99 - - 3331.09 - - - - - - - - 16.14 16.13 -
5566.40 635.66 -13.13 685 5572.08 roll back -1.39 0.22 0.200 1844.50 115.4 3.39 0.105 2054.25 -418.5 -145.99 - - 3331.16 - - - - - - - - 16.09 16.13 -
5871.42 670.19 -11.45 716 5872.75 no move -1.39 - - 1845.12 - - - 2054.69 - -145.99 - - 3332.62 - - - - - - - - - - -
6171.46 705.39 -12.40 746 6172.79 no move -1.42 - - 1844.62 - - - 2055.12 - -145.99 - - 3332.03 - - - - - - - - - - -
6471.49 738.38 -9.99 776 6472.82 no move -1.46 - - 1844.88 - - - 2054.75 - -145.99 - - 3329.47 - - - - - - - - - - -
6771.53 771.68 -10.62 806 6772.98 pitch -1.50 0.25 0.106 1804.44 -161.8 - - 2054.31 - -145.99 - - 3329.72 - - - - - - - - 16.14 - -
7071.57 810.08 -11.51 836 7072.90 no move -1.45 - - 1804.50 - - - 2055.00 - -145.99 - - 3329.38 - - - - - - - - - - -
7371.60 847.76 -11.94 866 7373.05 pitch -1.41 0.28 0.188 1838.69 122.1 - - 2054.56 - -145.99 - - 3327.88 - - - - - - - - 16.12 - -
7671.67 883.04 -11.05 896 7673.00 no move -1.45 - - 1839.06 - - - 2054.94 - -145.99 - - 3328.81 - - - - - - - - - - -
7971.74 917.49 -10.84 926 7973.06 no move -1.49 - - 1839.06 - - - 2055.38 - -145.99 - - 3328.09 - - - - - - - - - - -
8271.80 948.98 -10.09 956 8277.52 roll back -1.54 0.28 0.102 1792.31 -167.0 3.62 0.181 3473.12 391.6 -145.99 - - 3328.00 - - - - - - - - 16.14 16.14 -
8280 end dive: TARGET_DEPTH_EXCEEDED
8280 begin apogee
8285.49 950.08 -10.50 958 8410.83 -0.20 2.40 0.173 2133.06 142.0 0.05 0.417 2074.56 -27971.2 - 119.51 2.306 2748.81 -4.8 0.339 - - - - - - 16.10 15.30 13.11
8411 end apogee: CONTROL_FINISHED_OK
8411 begin climb
8411.85 952.86 - 971 8551.24 0.88 1.74 0.084 2398.19 152.4 4.11 0.226 665.62 -342.8 145.99 131.66 2.233 2152.78 -4.5 0.328 - - - - - - 15.37 14.96 12.70
8574.04 951.98 3.58 1003 8702.11 done 0.95 - - 2399.38 - 3.61 0.101 2078.00 391.2 283.12 122.47 2.195 1596.91 -4.5 0.335 - - - - - - - 15.18 12.49
8999.01 903.05 13.27 1058 9004.60 done 0.98 - - 2398.94 - 3.66 0.170 3472.94 381.1 283.12 - - 1583.41 - - - - - - - - - 15.56 -
9074.03 892.83 14.69 1073 9078.75 done 0.98 - - 2399.75 - 3.52 0.105 2056.12 -402.5 283.12 - - 1581.66 - - - - - - - - - 15.62 -
9384.11 852.43 13.57 1105 9389.92 1.02 0.18 0.118 2434.44 192.7 3.83 0.226 663.81 -363.5 283.12 - - 1580.03 - - - - - - - - 15.76 15.73 -
9429.16 845.66 16.26 1114 9434.84 0.91 0.37 0.200 2393.38 -111.0 3.44 0.100 2078.75 411.3 283.12 - - 1579.84 - - - - - - - - 15.74 15.79 -
9734.16 809.45 11.30 1145 9740.07 0.98 0.22 0.116 2424.25 140.3 3.56 0.168 3473.81 391.9 283.12 - - 1581.94 - - - - - - - - 15.85 15.85 -
9789.22 801.80 12.55 1156 9793.86 done 0.93 - - 2423.50 - 3.44 0.104 2054.75 -412.5 283.12 - - 1580.03 - - - - - - - - - 15.87 -
10099.19 755.40 14.88 1188 10103.93 done 0.93 - - 2424.69 - 3.62 0.166 3473.88 392.0 283.12 - - 1579.56 - - - - - - - - - 15.91 -
10139.22 749.74 14.39 1196 10144.99 0.89 0.30 0.203 2390.62 -113.6 3.42 0.103 2053.00 -415.5 283.12 - - 1577.66 - - - - - - - - 15.87 15.93 -
10444.25 713.68 11.77 1227 10445.71 0.98 0.22 0.114 2422.44 144.6 - - 2053.19 - 283.12 - - 1577.88 - - - - - - - - 15.96 - -
10744.26 679.23 11.20 1257 10745.59 VBD 0.98 - - 2422.50 - - - 2053.25 - 283.12 - - 1578.28 - - - - - - - - - - -
11044.29 642.75 11.75 1287 11049.01 done 0.98 - - 2423.00 - 3.58 0.164 3472.06 396.3 283.12 - - 1578.97 - - - - - - - - - 16.00 -
11084.31 637.43 13.02 1295 11088.99 done 0.98 - - 2423.12 - 3.39 0.105 2054.25 -418.2 283.12 - - 1577.97 - - - - - - - - - 16.02 -
11394.34 601.83 11.38 1327 11400.07 done 0.98 - - 2423.38 - 3.57 0.164 3472.81 397.4 283.12 - - 1576.84 - - - - - - - - - 16.02 -
11479.40 590.78 13.72 1344 11484.06 done 0.98 - - 2423.19 - 3.38 0.104 2053.81 -419.8 283.12 - - 1577.69 - - - - - - - - - 16.02 -
11789.39 552.64 13.08 1376 11795.14 done 0.98 - - 2419.75 - 3.68 0.215 662.94 -378.0 283.12 - - 1577.88 - - - - - - - - - 16.01 -
11848.36 543.79 14.90 1388 11855.09 done 0.91 - - 2423.06 - 3.33 0.092 2080.62 425.7 283.12 - - 1578.62 - - - - - - - - - 16.05 -
12154.44 504.11 11.66 1419 12159.01 done 0.91 - - 2423.44 - 3.45 0.158 3472.50 403.4 283.12 - - 1578.06 - - - - - - - - - 16.05 -
12208.46 496.62 13.60 1430 12215.15 done 0.91 - - 2423.12 - 3.38 0.099 2053.62 -419.8 283.12 - - 1577.25 - - - - - - - - - 16.06 -
12514.50 462.39 11.89 1461 12515.83 VBD 0.94 - - 2423.50 - - - 2054.19 - 283.12 - - 1577.03 - - - - - - - - - - -
12814.56 427.58 11.93 1491 12815.89 VBD 0.97 - - 2423.06 - - - 2053.56 - 283.12 - - 1576.34 - - - - - - - - - - -
13114.57 392.08 12.23 1521 13115.91 VBD 1.01 - - 2423.25 - - - 2053.50 - 283.12 - - 1576.69 - - - - - - - - - - -
13414.61 355.64 12.79 1551 13420.33 done 1.05 - - 2420.62 - 3.64 0.203 662.62 -382.1 283.12 - - 1577.38 - - - - - - - - - 16.05 -
13459.63 348.95 15.18 1560 13464.23 done 1.00 - - 2422.94 - 3.32 0.083 2084.06 428.1 283.12 - - 1578.44 - - - - - - - - - 16.08 -
13769.69 312.98 10.75 1592 13774.24 done 1.05 - - 2423.81 - 3.44 0.153 3472.75 403.7 283.12 - - 1577.91 - - - - - - - - - 16.07 -
13833.63 304.97 12.63 1605 13840.39 done 1.05 - - 2421.69 - 3.36 0.095 2051.25 -423.1 283.12 - - 1577.53 - - - - - - - - - 16.09 -
14139.78 272.40 10.60 1636 14141.11 VBD 1.10 - - 2422.88 - - - 2050.88 - 283.12 - - 1577.75 - - - - - - - - - - -
14439.85 240.93 10.13 1666 14445.62 1.16 0.23 0.112 2464.19 179.6 3.52 0.150 3474.69 404.5 283.12 - - 1577.22 - - - - - - - - 16.08 16.06 -
14484.92 235.11 13.01 1675 14490.63 1.08 0.25 0.217 2434.62 -118.3 3.34 0.091 2049.94 -426.6 283.12 - - 1577.53 - - - - - - - - 16.04 16.10 -
14789.92 201.83 11.60 1706 14791.26 VBD 1.14 - - 2437.50 - - - 2050.50 - 283.12 - - 1576.56 - - - - - - - - - - -
15089.99 171.52 9.51 1736 15099.72 1.20 0.25 0.112 2476.88 157.5 - - 2049.56 - 291.57 6.47 1.023 1561.31 -2.4 0.067 - - - - - - 16.08 - 13.13
15400.05 133.97 11.75 1767 15401.38 no move 1.20 - - 2477.06 - - - 2049.94 - 291.57 - - 1560.53 - - - - - - - - - - -
15700.08 100.66 10.80 1797 15704.66 roll 1.20 - - 2477.56 - 3.52 0.143 3474.25 404.6 291.57 - - 1561.62 - - - - - - - - - 16.06 -
15735.12 96.11 13.42 1804 15740.78 roll 1.16 - - 2477.25 - 3.33 0.083 2048.06 -428.3 291.57 - - 1560.41 - - - - - - - - - 16.07 -
15920.15 76.57 10.53 1841 15921.47 no move 1.16 - - 2476.88 - - - 2048.06 - 291.57 - - 1559.88 - - - - - - - - - - -
16100.23 63.99 6.62 1877 16163.04 done 1.30 - - 2476.69 - 3.58 0.141 3474.25 398.4 362.70 57.98 1.294 1271.28 -5.0 0.042 - - - - - - - 15.80 13.08
16355.83 40.20 10.25 1928 16361.57 roll back 1.38 0.22 0.110 2519.69 195.5 3.38 0.082 2048.69 -421.8 362.70 - - 1266.22 - - - - - - - - 15.86 15.89 -
16540.94 23.43 8.99 1965 16561.24 VBD 1.45 - - 2518.56 - - - 2048.62 - 382.27 17.33 1.151 1191.44 -4.3 0.015 - - - - - - - - 13.10
16741.00 12.95 3.41 2005 16863.59 1.75 0.54 0.090 2612.12 173.3 3.62 0.134 3473.75 393.7 523.15 114.68 1.178 617.34 -5.0 0.009 - - - - - - 15.88 15.47 13.03
16876.32 6.23 6.44 2032 16907.69 1.91 0.19 0.115 2647.25 184.9 3.44 0.076 2047.31 -414.7 598.19 24.93 1.072 500.78 -4.7 0.005 - - - - - - 15.51 15.55 12.81
16931 end climb: SURFACE_DEPTH_REACHED
16931 begin surface coast
16956 end surface coast: CONTROL_FINISHED_OK
16956 begin surface
SM 1.37 - - - - 176.4 - - 497.6 - 15.95 0.076 520.2 32.6 - 0.07 0.174 475.0 6736.6 -5.421 - - 30.00 15.54 15.55 -