NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 168 * Raw log
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• Previous call tries 1 • 55.23 of 575.00 AH used of 24V (90.39% remains)
• Surface angle -59.2 deg, depth 1.42 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.84 (SM_CC=425)
• GPS1 time: 24 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
6 end surface: CONTROL_FINISHED_OK
6 begin dive
6.57 - - - 79.59 VBD -1.25 - - 177.94 - - - 2120.38 - -77.86 72.51 0.005 2404.59 - - - - - - - - - - 15.63
79.91 3.27 -3.74 14 112.86 -1.25 13.69 0.263 1836.94 121.2 4.11 0.170 664.06 -354.3 -77.86 10.44 0.007 2814.22 39.2 -3.073 - - - - - - 15.63 15.62 15.67
335.75 61.71 -18.72 65 341.43 roll -1.25 - - 1836.69 - 3.54 0.062 2119.50 411.1 -77.86 - - 2817.16 - - - - - - - - - 15.80 -
520.69 88.61 -13.10 102 526.51 roll -1.25 - - 1837.12 - 3.98 0.158 663.38 -365.9 -77.86 - - 2816.91 - - - - - - - - - 15.82 -
750.80 117.88 -12.71 148 756.39 roll -1.25 - - 1836.25 - 3.51 0.060 2119.81 414.9 -77.86 - - 2817.62 - - - - - - - - - 15.89 -
1055.83 149.02 -9.83 179 1060.59 roll -1.25 - - 1836.94 - 3.61 0.121 3472.88 374.8 -77.86 - - 2815.72 - - - - - - - - - 15.93 -
1169.72 162.05 -12.02 202 1176.61 roll -1.25 - - 1837.06 - 3.41 0.065 2083.12 -407.6 -77.86 - - 2819.12 - - - - - - - - - 15.95 -
1475.92 196.49 -11.20 233 1477.25 no move -1.25 - - 1836.69 - - - 2082.56 - -77.86 - - 2818.16 - - - - - - - - - - -
1775.97 228.61 -11.21 263 1777.30 no move -1.25 - - 1836.62 - - - 2082.69 - -77.86 - - 2818.53 - - - - - - - - - - -
2076.02 259.94 -9.72 293 2081.80 roll -1.25 - - 1836.31 - 3.66 0.125 3472.81 379.8 -77.86 - - 2818.41 - - - - - - - - - 16.02 -
2134.90 266.81 -11.11 305 2141.76 roll -1.25 - - 1837.31 - 3.39 0.067 2081.25 -410.5 -77.86 - - 2817.62 - - - - - - - - - 16.03 -
2441.09 298.23 -10.96 336 2446.90 roll -1.25 - - 1836.56 - 3.93 0.168 662.06 -361.1 -77.86 - - 2819.22 - - - - - - - - - 16.02 -
2546.13 311.66 -13.17 357 2550.71 roll -1.25 - - 1835.69 - 3.47 0.062 2115.88 419.0 -77.86 - - 2819.38 - - - - - - - - - 16.05 -
2856.18 347.12 -11.82 389 2860.92 roll -1.25 - - 1837.00 - 3.57 0.127 3472.94 380.1 -77.86 - - 2818.50 - - - - - - - - - 16.04 -
2950.06 359.37 -12.62 408 2956.94 roll -1.25 - - 1836.56 - 3.41 0.069 2082.06 -407.9 -77.86 - - 2818.62 - - - - - - - - - 16.05 -
3256.23 392.41 -10.52 439 3261.86 roll -1.25 - - 1836.56 - 3.64 0.129 3474.88 382.6 -77.86 - - 2816.62 - - - - - - - - - 16.06 -
3291.25 396.77 -13.14 446 3295.81 roll -1.25 - - 1836.88 - 3.38 0.069 2082.94 -411.8 -77.86 - - 2817.25 - - - - - - - - - 16.07 -
3601.26 428.92 -9.74 478 3606.92 roll -1.25 - - 1836.88 - 3.86 0.172 663.50 -367.7 -77.86 - - 2816.97 - - - - - - - - - 16.05 -
3650.21 434.76 -12.16 488 3657.01 roll -1.25 - - 1837.19 - 3.48 0.064 2119.06 418.3 -77.86 - - 2816.62 - - - - - - - - - 16.08 -
3956.30 465.00 -9.79 519 3961.02 roll -1.25 - - 1836.69 - 3.57 0.131 3474.38 379.6 -77.86 - - 2817.06 - - - - - - - - - 16.07 -
4066.39 477.64 -11.58 541 4070.89 roll -1.25 - - 1836.81 - 3.39 0.072 2082.62 -410.5 -77.86 - - 2817.06 - - - - - - - - - 16.07 -
4376.48 508.42 -9.48 573 4382.15 roll -1.25 - - 1835.81 - 3.91 0.178 664.06 -362.8 -77.86 - - 2816.59 - - - - - - - - - 16.05 -
4491.36 521.61 -11.85 596 4496.97 roll -1.25 - - 1836.56 - 3.54 0.068 2118.44 410.8 -77.86 - - 2813.22 - - - - - - - - - 16.09 -
4796.38 551.01 -8.86 627 4801.11 roll -1.25 - - 1836.88 - 3.58 0.133 3472.94 378.4 -77.86 - - 2815.53 - - - - - - - - - 16.07 -
4856.42 557.48 -11.33 639 4860.97 roll -1.25 - - 1836.88 - 3.44 0.071 2083.38 -403.9 -77.86 - - 2814.41 - - - - - - - - - 16.09 -
5166.41 585.64 -9.15 671 5172.24 roll -1.25 - - 1835.31 - 4.01 0.179 663.94 -354.0 -77.86 - - 2814.81 - - - - - - - - - 16.06 -
5241.50 594.33 -11.85 686 5247.02 roll -1.25 - - 1836.06 - 3.50 0.068 2118.12 415.5 -77.86 - - 2813.78 - - - - - - - - - 16.10 -
5546.45 623.76 -9.49 717 5547.78 no move -1.25 - - 1836.69 - - - 2117.81 - -77.86 - - 2811.44 - - - - - - - - - - -
5846.46 650.42 -9.09 747 5852.30 roll -1.25 - - 1836.50 - 4.05 0.179 664.19 -358.9 -77.86 - - 2813.31 - - - - - - - - - 16.07 -
5955.40 661.96 -10.82 769 5962.25 roll -1.25 - - 1836.62 - 3.52 0.070 2117.44 412.9 -77.86 - - 2813.06 - - - - - - - - - 16.11 -
6261.50 687.37 -7.84 800 6267.21 roll -1.25 - - 1837.31 - 4.13 0.179 663.69 -352.0 -77.86 - - 2810.03 - - - - - - - - - 16.06 -
6320.56 693.37 -10.73 812 6327.28 roll -1.25 - - 1836.75 - 3.51 0.073 2117.12 414.1 -77.86 - - 2812.00 - - - - - - - - - 16.10 -
6626.53 717.56 -7.89 843 6632.24 roll -1.25 - - 1836.19 - 4.11 0.180 664.19 -353.5 -77.86 - - 2813.50 - - - - - - - - - 16.07 -
6665.54 721.08 -8.41 851 6672.29 roll -1.25 - - 1836.75 - 3.51 0.071 2116.94 413.9 -77.86 - - 2811.94 - - - - - - - - - 16.11 -
6971.56 745.83 -8.04 882 6977.26 roll -1.25 - - 1837.00 - 3.61 0.138 3472.62 375.5 -77.86 - - 2811.62 - - - - - - - - - 16.09 -
7060.49 754.56 -9.57 900 7067.31 roll -1.25 - - 1836.62 - 3.44 0.075 2085.31 -403.3 -77.86 - - 2811.91 - - - - - - - - - 16.11 -
7366.59 780.75 -8.71 931 7372.37 roll -1.25 - - 1835.38 - 3.71 0.136 3471.06 373.5 -77.86 - - 2811.81 - - - - - - - - - 16.10 -
7391.61 782.71 -9.22 936 7397.33 roll -1.25 - - 1836.81 - 3.44 0.074 2085.56 -402.8 -77.86 - - 2808.25 - - - - - - - - - 16.10 -
7696.62 806.97 -6.87 967 7702.45 roll -1.25 - - 1836.88 - 4.09 0.186 665.12 -347.3 -77.86 - - 2810.50 - - - - - - - - - 16.07 -
7765.71 813.06 -8.66 981 7772.38 roll -1.25 - - 1837.12 - 3.53 0.075 2116.50 411.2 -77.86 - - 2810.84 - - - - - - - - - 16.09 -
8071.65 837.38 -7.87 1012 8077.42 roll -1.25 - - 1837.00 - 3.63 0.141 3474.19 374.0 -77.86 - - 2809.72 - - - - - - - - - 16.09 -
8136.68 843.34 -9.89 1025 8141.25 roll -1.25 - - 1837.00 - 3.43 0.077 2086.69 -404.5 -77.86 - - 2808.88 - - - - - - - - - 16.10 -
8446.68 868.83 -8.50 1057 8452.38 roll -1.25 - - 1836.88 - 4.05 0.189 664.06 -351.3 -77.86 - - 2809.69 - - - - - - - - - 16.06 -
8491.71 873.23 -9.98 1066 8497.30 roll -1.25 - - 1836.69 - 3.54 0.076 2116.56 410.3 -77.86 - - 2808.09 - - - - - - - - - 16.10 -
8796.75 897.29 -8.66 1097 8801.48 roll -1.25 - - 1835.31 - 3.58 0.140 3472.75 378.8 -77.86 - - 2809.94 - - - - - - - - - 16.09 -
9026.86 898.84 - 1143 9031.55 roll -1.25 - - 1836.81 - 3.39 0.076 2086.00 -409.1 -77.86 - - 2810.00 - - - - - - - - - 16.10 -
9137 end dive: NO_VERTICAL_VELOCITY
9137 begin apogee
9138.13 899.26 - 1155 9204.92 -0.25 1.68 0.125 2082.31 146.1 0.07 0.321 2185.31 1418.7 - 63.71 2.181 2499.62 -4.9 0.337 - - - - - - 16.07 15.61 13.20
9207 end apogee: CONTROL_FINISHED_OK
9207 begin climb
9206.33 898.49 - 1161 9287.50 1.25 2.50 0.095 2447.56 146.1 4.22 0.163 736.94 -343.2 77.86 71.92 2.106 2178.97 -4.5 0.319 - - - - - - 15.65 15.26 12.95
9419.21 883.55 11.02 1203 9426.08 done 1.25 - - 2447.56 - 3.70 0.069 2214.00 399.2 77.86 - - 2172.00 - - - - - - - - - 15.56 -
9725.32 852.06 10.64 1234 9730.90 done 1.25 - - 2447.62 - 3.49 0.139 3469.94 359.9 77.86 - - 2166.62 - - - - - - - - - 15.74 -
9764.18 848.64 8.55 1242 9771.05 done 1.25 - - 2446.19 - 3.25 0.069 2184.31 -395.6 77.86 - - 2169.44 - - - - - - - - - 15.77 -
10070.36 817.51 10.79 1273 10075.96 done 1.25 - - 2446.19 - 3.54 0.139 3472.75 364.0 77.86 - - 2167.41 - - - - - - - - - 15.84 -
10149.23 809.00 11.17 1289 10156.08 done 1.25 - - 2447.25 - 3.26 0.068 2182.62 -395.7 77.86 - - 2167.22 - - - - - - - - - 15.86 -
10455.41 779.32 8.24 1320 10461.24 done 1.25 - - 2448.00 - 4.05 0.158 738.06 -356.7 77.86 - - 2162.69 - - - - - - - - - 15.90 -
10480.44 776.18 11.37 1325 10486.02 done 1.25 - - 2448.12 - 3.59 0.063 2218.94 412.5 77.86 - - 2161.12 - - - - - - - - - 15.93 -
10785.45 747.07 10.97 1356 10790.03 done 1.25 - - 2448.12 - 3.45 0.140 3472.56 363.4 77.86 - - 2164.16 - - - - - - - - - 15.94 -
10859.32 740.30 10.25 1371 10866.17 done 1.25 - - 2447.88 - 3.24 0.068 2183.38 -397.9 77.86 - - 2163.75 - - - - - - - - - 15.96 -
11165.50 714.33 7.19 1402 11171.09 done 1.28 - - 2448.06 - 3.51 0.138 3472.31 367.2 77.86 - - 2163.00 - - - - - - - - - 15.97 -
11270.51 703.96 9.38 1423 11275.18 done 1.28 - - 2447.38 - 3.19 0.069 2183.00 -404.2 77.86 - - 2163.78 - - - - - - - - - 15.99 -
11580.55 676.23 8.74 1455 11586.14 done 1.28 - - 2448.12 - 3.51 0.139 3471.88 367.2 77.86 - - 2159.94 - - - - - - - - - 15.98 -
11785.60 657.02 9.12 1496 11790.12 done 1.28 - - 2448.38 - 3.18 0.068 2181.56 -405.8 77.86 - - 2161.81 - - - - - - - - - 16.01 -
12095.63 632.80 7.72 1528 12101.21 done 1.28 - - 2447.38 - 3.49 0.138 3471.88 369.7 77.86 - - 2162.12 - - - - - - - - - 16.02 -
12154.49 628.25 8.22 1540 12161.32 done 1.28 - - 2446.69 - 3.19 0.066 2182.75 -404.1 77.86 - - 2163.03 - - - - - - - - - 16.01 -
12460.69 605.52 7.23 1571 12466.48 done 1.30 - - 2447.44 - 3.99 0.155 737.00 -362.3 77.86 - - 2160.62 - - - - - - - - - 16.02 -
12665.76 588.00 10.09 1612 12671.40 done 1.30 - - 2448.50 - 3.62 0.068 2217.00 408.8 77.86 - - 2158.19 - - - - - - - - - 16.04 -
12970.83 567.80 6.06 1643 12972.16 VBD 1.36 - - 2448.25 - - - 2217.06 - 77.86 - - 2158.78 - - - - - - - - - - -
13270.87 550.27 5.86 1673 13303.34 1.46 0.28 0.091 2502.88 195.1 4.14 0.151 736.88 -357.5 109.13 25.86 1.731 2053.56 -4.1 0.217 - - - - - - 16.05 15.85 13.05
13350.02 543.90 9.03 1689 13356.85 roll 1.46 - - 2502.19 - 3.60 0.065 2219.00 411.7 109.13 - - 2051.53 - - - - - - - - - 15.92 -
13656.16 517.89 9.24 1720 13661.94 roll 1.46 - - 2502.69 - 4.12 0.148 735.81 -360.0 109.13 - - 2046.38 - - - - - - - - - 15.95 -
13805.14 501.56 11.56 1750 13812.11 roll 1.46 - - 2502.00 - 3.61 0.063 2219.62 411.0 109.13 - - 2047.78 - - - - - - - - - 15.98 -
14111.25 473.58 8.91 1781 14115.81 done 1.46 - - 2503.00 - 3.37 0.133 3472.81 371.9 109.13 - - 2047.47 - - - - - - - - - 15.99 -
14175.14 466.58 10.92 1794 14181.94 done 1.46 - - 2502.19 - 3.17 0.065 2179.75 -407.9 109.13 - - 2047.50 - - - - - - - - - 15.99 -
14481.30 439.88 8.08 1825 14486.87 done 1.46 - - 2501.56 - 3.45 0.129 3472.12 374.6 109.13 - - 2046.94 - - - - - - - - - 15.99 -
14530.15 435.09 9.60 1835 14536.98 done 1.46 - - 2502.69 - 3.17 0.064 2180.88 -407.3 109.13 - - 2047.59 - - - - - - - - - 16.01 -
14836.34 408.03 9.04 1866 14842.17 done 1.46 - - 2502.94 - 4.02 0.147 736.00 -359.4 109.13 - - 2044.41 - - - - - - - - - 15.98 -
14911.35 400.74 9.57 1881 14916.95 done 1.46 - - 2501.81 - 3.55 0.060 2221.31 418.4 109.13 - - 2046.00 - - - - - - - - - 16.02 -
15216.39 374.59 8.12 1912 15217.72 VBD 1.46 - - 2502.69 - - - 2221.44 - 109.13 - - 2045.66 - - - - - - - - - - -
15516.40 349.33 8.38 1942 15517.74 VBD 1.46 - - 2502.94 - - - 2221.88 - 109.13 - - 2043.75 - - - - - - - - - - -
15816.44 325.07 7.97 1972 15822.27 done 1.46 - - 2503.12 - 4.08 0.143 737.12 -363.9 109.13 - - 2043.56 - - - - - - - - - 16.02 -
15885.48 318.00 10.58 1986 15892.34 done 1.46 - - 2502.69 - 3.57 0.063 2222.06 415.9 109.13 - - 2045.16 - - - - - - - - - 16.04 -
16191.51 291.84 8.38 2017 16197.46 done 1.46 - - 2502.88 - 4.09 0.142 736.00 -363.3 109.13 - - 2043.38 - - - - - - - - - 16.03 -
16216.52 289.85 8.37 2022 16222.11 done 1.46 - - 2501.62 - 3.53 0.059 2223.12 421.3 109.13 - - 2046.16 - - - - - - - - - 16.06 -
16521.56 267.15 6.96 2053 16526.09 done 1.49 - - 2503.25 - 3.34 0.127 3473.25 374.3 109.13 - - 2045.66 - - - - - - - - - 16.02 -
16645.40 257.30 8.30 2078 16652.23 done 1.49 - - 2501.81 - 3.10 0.062 2179.62 -417.3 109.13 - - 2046.09 - - - - - - - - - 16.05 -
16951.60 235.13 7.55 2109 16957.41 done 1.49 - - 2502.50 - 3.92 0.144 735.00 -368.5 109.13 - - 2043.81 - - - - - - - - - 16.03 -
17030.52 228.56 8.32 2125 17037.37 done 1.49 - - 2502.38 - 3.54 0.059 2221.75 420.0 109.13 - - 2044.72 - - - - - - - - - 16.04 -
17336.67 207.93 6.80 2156 17342.62 done 1.53 - - 2502.06 - 4.03 0.138 737.06 -368.4 109.13 - - 2043.94 - - - - - - - - - 16.04 -
17391.73 203.42 8.38 2167 17397.27 done 1.53 - - 2503.06 - 3.53 0.059 2223.12 421.0 109.13 - - 2043.84 - - - - - - - - - 16.04 -
17696.72 183.02 6.14 2198 17698.05 VBD 1.58 - - 2502.62 - - - 2222.50 - 109.13 - - 2044.88 - - - - - - - - - - -
17996.74 162.95 6.90 2228 17998.21 1.62 0.18 0.102 2541.31 214.9 - - 2221.94 - 109.13 - - 2044.97 - - - - - - - - 16.04 - -
18296.81 143.37 5.16 2258 18338.22 done 1.74 - - 2542.25 - 3.37 0.126 3474.00 371.5 150.39 34.44 1.280 1884.97 -4.6 0.087 - - - - - - - 15.86 13.08
18340.73 141.08 4.94 2267 18383.69 1.88 0.34 0.081 2603.88 181.3 3.16 0.056 2177.56 -410.3 194.78 37.27 1.250 1705.75 -4.8 0.091 - - - - - - 15.88 15.91 13.05
18681.90 98.70 12.35 2306 18687.62 done 1.88 - - 2603.69 - 3.47 0.120 3472.00 373.0 194.78 - - 1697.22 - - - - - - - - - 15.85 -
18911.99 71.83 9.21 2352 18917.65 done 1.88 - - 2604.00 - 3.17 0.058 2178.38 -408.1 194.78 - - 1696.56 - - - - - - - - - 15.88 -
19097.05 58.21 6.86 2389 19102.77 done 1.91 - - 2603.31 - 3.43 0.119 3474.81 378.0 194.78 - - 1694.66 - - - - - - - - - 15.90 -
19177.14 53.07 5.91 2405 19208.29 done 2.00 - - 2603.50 - 3.14 0.057 2177.88 -413.0 225.25 25.12 1.132 1581.38 -4.5 0.035 - - - - - - - 15.93 13.09
19387.15 40.29 7.25 2447 19388.61 pitch 2.03 0.17 0.108 2637.44 199.6 - - 2177.38 - 225.25 - - 1576.25 - - - - - - - - 15.86 - -
19567.20 35.44 1.55 2483 19649.68 2.31 0.39 0.076 2704.81 172.7 4.09 0.141 737.38 -352.1 318.07 74.22 1.139 1203.09 -5.0 0.026 - - - - - - 15.89 15.58 12.99
19667.65 31.93 7.20 2503 19673.20 roll 2.33 - - 2705.25 - 3.62 0.056 2223.62 410.6 318.07 - - 1200.53 - - - - - - - - - 15.66 -
19852.47 7.89 13.96 2540 19858.18 roll 2.33 - - 2705.88 - 3.37 0.121 3473.69 370.9 318.07 - - 1196.25 - - - - - - - - - 15.75 -
19893 end climb: SURFACE_DEPTH_REACHED
19893 begin surface coast
19903 end surface coast: CONTROL_FINISHED_OK
19903 begin surface
SM 0.93 - - - - 175.1 0.64 0.147 768.1 1200.2 16.19 0.068 766.9 47.4 - 3.38 0.058 769.2 226.6 -0.371 - - 15.49 15.75 15.77 -