NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 18 * Raw log
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• Previous call tries 1 • 8.39 of 350.00 AH used of 24V (97.60% remains)
• Surface angle -63.3 deg, depth 1.18 m • Intended pitch -16.7 deg, speed -8.684 cm/s
VBD pumped to 524.94 (SM_CC=525)
• GPS1 time: 49 s
• GPS2 time: 4 s • Transponder ping count: 4
• 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
6.10 - - - 74.27 VBD -0.82 - - 176.62 - - - 2082.94 - -126.52 67.71 0.005 2184.41 - - - - - - - - - - 15.69
74.54 3.60 -4.22 13 121.83 -0.82 13.90 0.270 1979.56 129.7 3.83 0.176 662.56 -370.9 -126.52 24.78 0.006 3264.97 43.6 -4.402 - - - - - - 15.65 15.68 15.72
214.59 28.86 -15.38 41 220.28 roll -0.77 - - 1979.56 - 3.36 0.067 2088.44 424.4 -126.52 - - 3265.09 - - - - - - - - - 15.74 -
399.64 47.26 -8.82 78 400.97 no move -0.85 - - 1979.06 - - - 2088.50 - -126.52 - - 3265.94 - - - - - - - - - - -
579.73 62.72 -8.32 114 581.18 pitch -0.95 0.29 0.087 1934.69 -153.0 - - 2088.69 - -126.52 - - 3264.28 - - - - - - - - 15.86 - -
759.77 83.02 -10.22 150 765.47 roll -0.95 - - 1934.56 - 3.43 0.134 3474.31 404.0 -126.52 - - 3267.41 - - - - - - - - - 15.89 -
779.78 85.05 -10.19 154 785.46 roll -0.95 - - 1934.69 - 3.40 0.072 2048.94 -419.2 -126.52 - - 3268.62 - - - - - - - - - 15.90 -
969.84 104.09 -9.97 188 971.17 no move -0.95 - - 1934.88 - - - 2048.25 - -126.52 - - 3267.41 - - - - - - - - - - -
1269.92 133.56 -9.67 218 1275.56 roll -0.99 - - 1935.00 - 3.58 0.136 3473.50 398.1 -126.52 - - 3269.03 - - - - - - - - - 15.96 -
1308.87 137.72 -10.38 226 1315.61 roll -1.02 - - 1935.00 - 3.38 0.077 2049.12 -421.4 -126.52 - - 3267.34 - - - - - - - - - 15.98 -
1615.02 163.54 -7.99 257 1620.64 roll -1.08 - - 1934.25 - 3.57 0.138 3473.94 399.1 -126.52 - - 3265.69 - - - - - - - - - 15.99 -
1653.97 167.27 -9.31 265 1660.74 roll back -1.12 0.19 0.104 1894.31 -210.2 3.40 0.078 2051.06 -418.5 -126.52 - - 3267.28 - - - - - - - - 15.96 16.00 -
1960.20 200.22 -11.68 296 1961.53 no move -1.12 - - 1893.81 - - - 2050.62 - -126.52 - - 3267.84 - - - - - - - - - - -
2260.09 234.48 -11.27 326 2261.42 no move -1.12 - - 1893.88 - - - 2050.94 - -126.52 - - 3267.88 - - - - - - - - - - -
2560.13 266.94 -10.56 356 2561.46 no move -1.12 - - 1893.88 - - - 2050.31 - -126.52 - - 3267.00 - - - - - - - - - - -
2860.16 297.74 -10.08 386 2864.81 roll -1.12 - - 1893.69 - 3.59 0.145 3473.75 396.5 -126.52 - - 3266.88 - - - - - - - - - 16.06 -
2904.11 302.43 -10.63 395 2910.86 roll -1.12 - - 1893.81 - 3.40 0.086 2050.69 -418.5 -126.52 - - 3266.06 - - - - - - - - - 16.07 -
3210.22 332.75 -9.87 426 3211.54 no move -1.12 - - 1894.00 - - - 2050.56 - -126.52 - - 3265.12 - - - - - - - - - - -
3510.24 360.70 -9.63 456 3514.89 roll -1.12 - - 1893.81 - 3.56 0.148 3475.12 400.2 -126.52 - - 3265.03 - - - - - - - - - 16.07 -
3550.25 364.95 -10.79 464 3554.90 roll -1.12 - - 1894.31 - 3.40 0.087 2052.06 -418.5 -126.52 - - 3264.62 - - - - - - - - - 16.09 -
3860.29 394.49 -9.73 496 3861.62 no move -1.12 - - 1893.75 - - - 2052.06 - -126.52 - - 3264.38 - - - - - - - - - - -
4160.33 422.78 -9.55 526 4161.66 no move -1.15 - - 1893.94 - - - 2052.25 - -126.52 - - 3263.62 - - - - - - - - - - -
4460.37 455.08 -11.40 556 4461.70 no move -1.19 - - 1893.81 - - - 2052.19 - -126.52 - - 3263.19 - - - - - - - - - - -
4760.40 487.19 -8.98 586 4765.04 roll -1.22 - - 1893.44 - 3.52 0.154 3477.19 404.8 -126.52 - - 3261.00 - - - - - - - - - 16.10 -
4784.40 490.06 -8.75 591 4791.09 roll -1.26 - - 1893.50 - 3.38 0.090 2050.25 -422.2 -126.52 - - 3261.78 - - - - - - - - - 16.12 -
5090.46 517.18 -8.20 622 5091.90 pitch -1.30 0.19 0.107 1850.50 -226.3 - - 2051.19 - -126.52 - - 3260.72 - - - - - - - - 16.11 - -
5390.48 548.61 -11.21 652 5395.11 roll -1.27 - - 1850.88 - 3.57 0.156 3474.75 398.8 -126.52 - - 3262.97 - - - - - - - - - 16.11 -
5414.42 551.41 -11.05 657 5421.23 roll back -1.23 0.26 0.190 1881.56 118.0 3.39 0.091 2053.94 -419.1 -126.52 - - 3260.06 - - - - - - - - 16.07 16.12 -
5720.52 580.18 -10.14 688 5721.85 no move -1.27 - - 1881.75 - - - 2054.06 - -126.52 - - 3260.91 - - - - - - - - - - -
6020.57 606.55 -8.68 718 6021.90 no move -1.31 - - 1881.88 - - - 2053.75 - -126.52 - - 3258.91 - - - - - - - - - - -
6320.62 633.83 -9.26 748 6322.06 pitch -1.36 0.27 0.099 1836.06 -169.7 - - 2053.19 - -126.52 - - 3259.72 - - - - - - - - 16.12 - -
6620.68 668.00 -11.40 778 6622.13 pitch -1.31 0.22 0.189 1862.69 121.0 - - 2053.44 - -126.52 - - 3260.62 - - - - - - - - 16.10 - -
6920.73 696.80 -8.99 808 6922.05 no move -1.31 - - 1862.62 - - - 2053.44 - -126.52 - - 3259.62 - - - - - - - - - - -
7220.80 723.38 -8.18 838 7225.45 roll -1.31 - - 1861.94 - 3.57 0.160 3473.94 397.9 -126.52 - - 3259.81 - - - - - - - - - 16.13 -
7264.74 727.62 -9.02 847 7271.49 roll -1.31 - - 1863.12 - 3.38 0.097 2054.12 -420.1 -126.52 - - 3259.22 - - - - - - - - - 16.14 -
7570.89 755.33 -9.41 878 7572.21 no move -1.34 - - 1862.38 - - - 2054.50 - -126.52 - - 3258.91 - - - - - - - - - - -
7870.95 781.89 -9.20 908 7872.28 no move -1.38 - - 1862.62 - - - 2054.38 - -126.52 - - 3256.62 - - - - - - - - - - -
8171.01 808.70 -10.01 938 8172.46 pitch -1.42 0.24 0.102 1823.62 -162.5 - - 2054.12 - -126.52 - - 3259.59 - - - - - - - - 16.14 - -
8471.07 842.51 -11.40 968 8472.52 pitch -1.37 0.22 0.190 1848.69 114.0 - - 2053.88 - -126.52 - - 3255.50 - - - - - - - - 16.12 - -
8771.09 873.54 -10.66 998 8772.42 no move -1.37 - - 1848.31 - - - 2053.88 - -126.52 - - 3255.19 - - - - - - - - - - -
9071.12 903.30 -10.63 1028 9072.45 no move -1.37 - - 1848.69 - - - 2054.00 - -126.52 - - 3254.62 - - - - - - - - - - -
9371.16 931.77 -9.68 1058 9375.81 roll -1.37 - - 1848.56 - 3.57 0.164 3473.44 397.6 -126.52 - - 3257.78 - - - - - - - - - 16.14 -
9415.10 936.82 -10.64 1067 9421.87 roll -1.37 - - 1848.50 - 3.43 0.103 2054.00 -413.8 -126.52 - - 3256.53 - - - - - - - - - 16.15 -
9721.40 966.72 -9.44 1098 9722.73 no move -1.37 - - 1848.12 - - - 2054.62 - -126.52 - - 3255.75 - - - - - - - - - - -
9951 end dive: TARGET_DEPTH_EXCEEDED
9951 begin apogee
9952.42 990.22 -10.93 1121 10059.16 -0.20 1.94 0.158 2132.19 146.4 0.05 0.403 2058.00 67.6 - 103.83 2.344 2746.94 -4.9 0.348 - - - - - - 16.11 15.37 13.18
10066 end apogee: CONTROL_FINISHED_OK
10066 begin climb
10066.37 991.79 - 1131 10185.96 0.82 1.64 0.086 2386.00 154.8 - - 2057.81 - 126.52 116.64 2.255 2233.47 -4.4 0.326 - - - - - - 15.43 - 12.79
10489.32 976.06 7.73 1180 10514.38 done 0.80 - - 2385.25 - 3.76 0.159 3472.88 376.3 146.84 18.29 2.015 2151.03 -4.5 0.367 - - - - - - - 15.44 12.88
10629.32 963.32 10.92 1208 10635.15 roll back 0.70 0.40 0.200 2343.31 -104.9 3.55 0.097 2053.69 -399.8 146.84 - - 2143.28 - - - - - - - - 15.55 15.60 -
10934.38 943.52 6.57 1239 10977.30 0.81 0.27 0.109 2380.38 137.3 - - 2054.06 - 192.13 41.54 2.194 1967.53 -4.2 0.306 - - - - - - 15.74 - 12.95
11274.44 915.47 8.89 1273 11280.13 done 0.81 - - 2380.69 - 3.69 0.157 3471.31 384.1 192.13 - - 1954.56 - - - - - - - - - 15.69 -
11379.41 905.09 10.86 1294 11384.13 done 0.77 - - 2380.12 - 3.49 0.097 2053.88 -406.1 192.13 - - 1955.94 - - - - - - - - - 15.75 -
11689.44 877.81 9.84 1326 11690.77 VBD 0.77 - - 2380.62 - - - 2054.19 - 192.13 - - 1952.94 - - - - - - - - - - -
11989.47 850.11 9.37 1356 11994.21 done 0.77 - - 2380.56 - 3.62 0.156 3472.25 391.7 192.13 - - 1951.69 - - - - - - - - - 15.88 -
12049.51 843.65 11.58 1368 12054.20 done 0.73 - - 2380.81 - 3.44 0.095 2052.38 -412.8 192.13 - - 1951.75 - - - - - - - - - 15.90 -
12359.52 814.97 9.78 1400 12365.12 done 0.73 - - 2380.81 - 3.60 0.154 3474.31 395.0 192.13 - - 1950.69 - - - - - - - - - 15.93 -
12408.41 810.10 11.28 1410 12415.33 0.69 0.34 0.200 2342.06 -114.0 3.44 0.093 2051.00 -413.8 192.13 - - 1951.34 - - - - - - - - 15.89 15.95 -
12714.63 787.90 5.59 1441 12777.56 0.88 0.38 0.102 2397.94 147.1 3.68 0.155 3471.62 386.0 258.37 56.97 2.092 1693.53 -4.5 0.287 - - - - - - 15.97 15.55 13.13
12840.36 775.05 12.33 1466 12845.19 roll 0.88 - - 2398.06 - 3.48 0.094 2050.94 -408.2 258.37 - - 1690.19 - - - - - - - - - 15.66 -
13150.39 742.91 9.76 1498 13151.72 VBD 0.88 - - 2397.94 - - - 2051.44 - 258.37 - - 1685.38 - - - - - - - - - - -
13450.43 712.09 10.83 1528 13455.14 done 0.91 - - 2397.12 - 3.59 0.153 3473.69 396.2 258.37 - - 1686.31 - - - - - - - - - 15.85 -
13520.44 704.33 11.15 1542 13525.14 done 0.91 - - 2398.00 - 3.43 0.092 2052.12 -414.5 258.37 - - 1683.50 - - - - - - - - - 15.87 -
13830.49 670.17 11.18 1574 13831.82 VBD 0.95 - - 2397.69 - - - 2052.44 - 258.37 - - 1682.47 - - - - - - - - - - -
14130.53 637.72 9.57 1604 14135.22 done 0.98 - - 2398.25 - 3.55 0.151 3473.38 400.3 258.37 - - 1683.50 - - - - - - - - - 15.95 -
14210.53 628.26 12.24 1620 14215.20 done 0.98 - - 2398.38 - 3.39 0.091 2051.00 -419.6 258.37 - - 1682.94 - - - - - - - - - 15.97 -
14520.58 595.58 9.89 1652 14522.01 1.03 0.19 0.121 2434.88 192.1 - - 2050.94 - 258.37 - - 1680.56 - - - - - - - - 15.98 - -
14820.61 558.52 11.51 1682 14826.20 done 1.03 - - 2434.44 - 3.55 0.149 3474.69 401.1 258.37 - - 1681.28 - - - - - - - - - 16.00 -
14859.51 552.83 13.54 1690 14866.46 done 0.96 - - 2434.69 - 3.38 0.088 2049.25 -421.7 258.37 - - 1681.06 - - - - - - - - - 16.01 -
15165.69 514.47 13.20 1721 15170.27 done 0.96 - - 2434.81 - 3.52 0.147 3474.81 405.0 258.37 - - 1682.09 - - - - - - - - - 16.02 -
15195.73 510.49 13.26 1727 15201.35 0.91 0.34 0.202 2394.94 -117.3 3.37 0.086 2048.88 -423.1 258.37 - - 1680.44 - - - - - - - - 15.97 16.03 -
15501.15 478.80 10.20 1758 15506.47 done 0.99 - - 2393.62 - 3.50 0.145 3474.69 407.4 258.37 - - 1680.25 - - - - - - - - - 16.02 -
15555.81 472.81 11.28 1769 15561.70 1.03 0.29 0.107 2437.31 150.7 3.37 0.086 2047.75 -423.4 258.37 - - 1680.53 - - - - - - - - 16.02 16.04 -
15860.86 438.52 11.21 1800 15862.19 VBD 1.03 - - 2437.75 - - - 2048.44 - 258.37 - - 1681.22 - - - - - - - - - - -
16160.91 406.28 11.13 1830 16165.65 done 1.03 - - 2437.56 - 3.51 0.147 3472.94 405.8 258.37 - - 1681.31 - - - - - - - - - 16.04 -
16230.99 397.92 11.96 1844 16235.77 done 0.98 - - 2438.06 - 3.36 0.084 2047.81 -424.1 258.37 - - 1681.56 - - - - - - - - - 16.06 -
16541.01 365.00 10.25 1876 16546.59 done 0.98 - - 2437.94 - 3.51 0.143 3472.88 406.0 258.37 - - 1679.81 - - - - - - - - - 16.06 -
16579.91 359.86 12.63 1884 16586.81 0.92 0.34 0.200 2398.38 -116.4 3.35 0.083 2047.00 -425.6 258.37 - - 1682.25 - - - - - - - - 16.00 16.05 -
16886.10 330.53 9.74 1915 16887.55 1.01 0.22 0.112 2430.06 144.0 - - 2047.12 - 258.37 - - 1679.22 - - - - - - - - 16.07 - -
17186.10 297.71 10.58 1945 17191.68 done 1.01 - - 2429.50 - 3.50 0.143 3473.75 407.6 258.37 - - 1679.16 - - - - - - - - - 16.06 -
17231.14 292.83 11.61 1954 17235.80 done 0.97 - - 2430.38 - 3.35 0.082 2046.25 -426.1 258.37 - - 1680.72 - - - - - - - - - 16.08 -
17541.15 261.54 10.51 1986 17542.49 VBD 0.97 - - 2430.00 - - - 2046.31 - 258.37 - - 1679.41 - - - - - - - - - - -
17841.19 231.16 10.47 2016 17845.94 done 0.97 - - 2430.12 - 3.52 0.142 3475.88 406.1 258.37 - - 1681.81 - - - - - - - - - 16.06 -
17925.21 221.79 10.75 2033 17931.90 done 0.97 - - 2430.25 - 3.35 0.081 2046.69 -426.6 258.37 - - 1680.56 - - - - - - - - - 16.09 -
18231.24 191.04 9.83 2064 18236.81 done 0.97 - - 2429.88 - 3.50 0.140 3475.12 408.1 258.37 - - 1680.66 - - - - - - - - - 16.07 -
18276.25 185.89 11.53 2073 18280.80 done 0.97 - - 2429.88 - 3.34 0.080 2046.81 -427.6 258.37 - - 1680.28 - - - - - - - - - 16.08 -
18586.31 155.33 9.40 2105 18590.85 done 1.01 - - 2430.06 - 3.48 0.139 3473.94 410.1 258.37 - - 1680.12 - - - - - - - - - 16.06 -
18616.29 152.48 9.27 2111 18620.98 done 1.01 - - 2430.00 - 3.34 0.078 2046.56 -427.4 258.37 - - 1680.50 - - - - - - - - - 16.08 -
18926.36 125.22 8.67 2143 18927.70 VBD 1.06 - - 2430.12 - - - 2047.50 - 258.66 - - 1681.09 - - - - - - - - - - -
19226.39 100.45 8.45 2173 19231.06 roll 1.13 - - 2430.38 - 3.48 0.138 3474.81 410.1 263.61 - - 1680.75 - - - - - - - - - 16.08 -
19331.39 91.46 8.13 2194 19352.59 1.14 0.16 0.124 2462.50 200.7 3.33 0.077 2047.31 -428.7 275.54 13.88 1.204 1627.78 -3.8 0.049 - - - - - - 16.06 16.06 13.18
19531.45 76.78 8.49 2234 19542.24 done 1.19 - - 2462.25 - 3.50 0.137 3474.31 407.7 279.65 5.76 0.849 1608.84 -3.3 0.050 - - - - - - - 15.97 13.16
19766.47 56.90 6.79 2281 19807.85 done 1.23 - - 2462.00 - 3.35 0.076 2046.62 -426.2 320.08 34.42 1.235 1444.47 -4.8 0.037 - - - - - - - 16.03 13.20
19986.59 43.25 6.80 2325 20027.97 1.38 0.31 0.095 2520.50 188.7 3.55 0.135 3473.25 401.9 360.44 33.78 1.187 1281.25 -4.8 0.030 - - - - - - 15.91 15.74 13.09
20156.54 25.64 11.37 2359 20162.38 roll 1.38 - - 2520.62 - 3.38 0.076 2047.69 -421.8 360.44 - - 1278.47 - - - - - - - - - 15.82 -
20341.64 15.50 4.19 2396 20429.01 1.60 0.29 0.097 2576.38 192.3 3.58 0.131 3473.44 398.3 456.66 80.07 1.160 887.88 -4.9 0.011 - - - - - - 15.86 15.55 13.07
20596 end climb: SURFACE_DEPTH_REACHED
20596 begin surface coast
20626 end surface coast: CONTROL_FINISHED_OK
20626 begin surface
SM 1.03 - - - - 182.8 - 0.016 610.0 - 15.41 0.073 603.7 39.2 - 3.38 0.077 616.3 181.3 -0.248 - - 30.36 15.70 15.73 -