NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 28 * Raw log
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• Previous call tries 1 • 12.25 of 350.00 AH used of 24V (96.50% remains)
• Surface angle -68.1 deg, depth 1.52 m • Intended pitch -17.4 deg, speed -8.049 cm/s
• No surface pump (final VBD was 792.2, SM_CC=450)
• GPS1 time: 36 s
• GPS2 time: 2 s • Transponder ping count: 0
• 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
6.18 - - - 69.24 VBD -1.02 - - 181.62 - - - 2126.00 - -107.06 62.51 0.005 2218.09 - - - - - - - - - - 15.67
69.48 3.44 -4.50 12 111.67 -1.02 13.85 0.277 1891.94 123.5 3.35 0.135 3474.94 402.7 -107.06 20.06 0.006 3111.91 44.6 -4.266 - - - - - - 15.61 15.64 15.70
244.38 46.04 -17.42 47 250.09 roll -1.02 - - 1891.19 - 3.33 0.070 2091.00 -415.6 -107.06 - - 3112.34 - - - - - - - - - 15.77 -
430.67 70.70 -13.34 84 436.18 roll -1.02 - - 1892.25 - 3.77 0.168 660.62 -379.4 -107.06 - - 3110.66 - - - - - - - - - 15.79 -
480.58 78.17 -15.01 94 485.28 roll -1.02 - - 1892.12 - 3.41 0.065 2131.75 431.4 -107.06 - - 3113.25 - - - - - - - - - 15.84 -
664.47 103.07 -12.87 129 665.80 no move -1.02 - - 1892.19 - - - 2131.56 - -107.06 - - 3112.34 - - - - - - - - - - -
964.50 135.44 -10.28 159 965.83 no move -1.02 - - 1892.00 - - - 2131.94 - -107.06 - - 3112.78 - - - - - - - - - - -
1264.54 165.30 -10.29 189 1269.16 roll -1.02 - - 1891.69 - 3.31 0.135 3476.75 406.3 -107.06 - - 3112.69 - - - - - - - - - 15.95 -
1324.55 172.07 -11.26 201 1329.17 roll -1.02 - - 1892.25 - 3.35 0.070 2091.31 -413.6 -107.06 - - 3112.09 - - - - - - - - - 15.97 -
1634.58 204.73 -10.40 233 1640.28 roll -1.02 - - 1891.38 - 3.80 0.182 663.25 -375.8 -107.06 - - 3110.72 - - - - - - - - - 15.96 -
1663.53 208.10 -10.93 239 1670.31 roll -1.02 - - 1891.56 - 3.41 0.070 2130.12 430.2 -107.06 - - 3112.66 - - - - - - - - - 16.00 -
1969.64 240.83 -10.58 270 1970.97 no move -1.02 - - 1891.81 - - - 2129.75 - -107.06 - - 3112.12 - - - - - - - - - - -
2269.70 271.07 -10.36 300 2271.03 no move -1.02 - - 1891.75 - - - 2129.62 - -107.06 - - 3111.47 - - - - - - - - - - -
2569.77 298.25 -9.38 330 2571.09 no move -1.02 - - 1892.38 - - - 2129.44 - -107.06 - - 3110.91 - - - - - - - - - - -
2869.83 325.52 -8.98 360 2871.16 no move -1.02 - - 1892.25 - - - 2129.25 - -107.06 - - 3110.41 - - - - - - - - - - -
3169.89 354.41 -10.42 390 3175.64 roll -1.02 - - 1890.94 - 4.01 0.188 663.75 -365.5 -107.06 - - 3108.72 - - - - - - - - - 16.04 -
3228.91 361.04 -11.67 402 3235.62 roll -1.02 - - 1891.81 - 3.42 0.078 2128.44 428.3 -107.06 - - 3108.69 - - - - - - - - - 16.08 -
3534.98 388.94 -8.88 433 3536.31 no move -1.02 - - 1891.81 - - - 2128.25 - -107.06 - - 3109.38 - - - - - - - - - - -
3835.04 414.27 -8.14 463 3836.37 no move -1.02 - - 1891.69 - - - 2128.19 - -107.06 - - 3108.41 - - - - - - - - - - -
4135.10 439.90 -8.40 493 4136.43 no move -1.02 - - 1891.81 - - - 2128.44 - -107.06 - - 3106.91 - - - - - - - - - - -
4435.15 467.37 -9.72 523 4440.89 roll -1.02 - - 1890.75 - 4.04 0.195 663.94 -362.5 -107.06 - - 3107.78 - - - - - - - - - 16.07 -
4490.18 472.85 -11.00 534 4494.80 roll -1.02 - - 1892.00 - 3.43 0.083 2127.31 426.6 -107.06 - - 3107.28 - - - - - - - - - 16.11 -
4800.20 500.90 -9.00 566 4801.53 no move -1.02 - - 1891.19 - - - 2127.56 - -107.06 - - 3106.44 - - - - - - - - - - -
5100.23 525.14 -8.19 596 5101.56 no move -1.02 - - 1891.81 - - - 2126.94 - -107.06 - - 3105.22 - - - - - - - - - - -
5400.26 551.49 -8.96 626 5401.58 no move -1.02 - - 1891.56 - - - 2127.62 - -107.06 - - 3104.91 - - - - - - - - - - -
5700.30 579.22 -9.97 656 5706.05 roll -1.02 - - 1891.50 - 4.03 0.198 664.56 -363.0 -107.06 - - 3101.69 - - - - - - - - - 16.09 -
5739.25 582.92 -9.25 664 5746.01 roll -1.02 - - 1891.94 - 3.43 0.085 2125.50 425.9 -107.06 - - 3104.00 - - - - - - - - - 16.13 -
6045.34 609.42 -7.52 695 6046.67 no move -1.02 - - 1891.88 - - - 2125.25 - -107.06 - - 3103.00 - - - - - - - - - - -
6345.37 632.94 -7.45 725 6346.70 no move -1.02 - - 1892.25 - - - 2125.44 - -107.06 - - 3102.31 - - - - - - - - - - -
6645.41 657.74 -8.68 755 6646.73 no move -1.02 - - 1891.69 - - - 2125.31 - -107.06 - - 3102.16 - - - - - - - - - - -
6945.44 684.11 -8.49 785 6951.20 roll -1.02 - - 1890.00 - 4.09 0.201 664.81 -357.1 -107.06 - - 3101.59 - - - - - - - - - 16.10 -
6980.46 687.30 -8.27 792 6985.09 roll -1.02 - - 1892.00 - 3.44 0.089 2124.44 424.3 -107.06 - - 3100.81 - - - - - - - - - 16.14 -
7290.48 713.19 -7.77 824 7291.81 no move -1.02 - - 1891.75 - - - 2124.38 - -107.06 - - 3100.50 - - - - - - - - - - -
7590.51 737.80 -7.69 854 7596.26 roll -1.02 - - 1889.81 - 4.07 0.202 663.94 -358.8 -107.06 - - 3100.84 - - - - - - - - - 16.10 -
7635.53 741.78 -9.71 863 7640.16 roll -1.02 - - 1892.31 - 3.45 0.089 2124.06 423.2 -107.06 - - 3100.31 - - - - - - - - - 16.14 -
7945.56 766.14 -7.93 895 7946.88 no move -1.02 - - 1892.12 - - - 2124.12 - -107.06 - - 3098.12 - - - - - - - - - - -
8245.60 790.56 -7.70 925 8246.92 no move -1.02 - - 1891.94 - - - 2124.06 - -107.06 - - 3098.97 - - - - - - - - - - -
8545.65 816.06 -9.28 955 8546.98 no move -1.02 - - 1892.25 - - - 2124.12 - -107.06 - - 3097.81 - - - - - - - - - - -
8845.72 841.35 -8.40 985 8847.04 no move -1.02 - - 1891.44 - - - 2124.06 - -107.06 - - 3096.62 - - - - - - - - - - -
9145.78 865.90 -8.98 1015 9147.11 no move -1.02 - - 1891.50 - - - 2124.12 - -107.06 - - 3096.75 - - - - - - - - - - -
9445.84 887.49 -6.10 1045 9447.17 no move -1.02 - - 1891.75 - - - 2124.44 - -107.06 - - 3097.41 - - - - - - - - - - -
9745.91 909.49 -7.18 1075 9747.24 no move -1.02 - - 1891.50 - - - 2124.25 - -107.06 - - 3096.19 - - - - - - - - - - -
10045.97 931.17 -7.67 1105 10047.30 no move -1.02 - - 1892.12 - - - 2124.00 - -107.06 - - 3095.78 - - - - - - - - - - -
10346.03 953.62 -7.24 1135 10347.36 no move -1.02 - - 1892.00 - - - 2124.38 - -107.06 - - 3096.19 - - - - - - - - - - -
10646.09 975.63 -8.19 1165 10647.42 no move -1.02 - - 1891.62 - - - 2124.38 - -107.06 - - 3095.00 - - - - - - - - - - -
10846 end dive: TARGET_DEPTH_EXCEEDED
10846 begin apogee
10847.29 990.37 -7.24 1185 10938.09 -0.25 1.28 0.154 2081.69 148.5 0.06 0.382 2137.25 214.5 - 85.69 2.313 2674.00 -4.9 0.351 - - - - - - 16.11 15.48 13.23
10945 end apogee: CONTROL_FINISHED_OK
10945 begin climb
10945.30 991.99 - 1194 11045.49 1.02 2.07 0.104 2390.31 149.1 - - 2137.31 - 107.06 96.47 2.265 2234.78 -4.6 0.333 - - - - - - 15.54 - 12.90
11338.25 970.01 7.48 1234 11339.58 VBD 1.03 - - 2389.56 - - - 2137.56 - 107.06 - - 2223.53 - - - - - - - - - - -
11638.24 947.24 8.48 1264 11639.57 VBD 1.03 - - 2389.75 - - - 2137.25 - 107.06 - - 2218.59 - - - - - - - - - - -
11938.27 925.42 8.02 1294 11942.96 done 1.03 - - 2389.62 - 3.40 0.155 3474.62 393.3 107.06 - - 2219.31 - - - - - - - - - 15.84 -
12058.31 915.96 7.54 1318 12062.98 done 1.04 - - 2389.88 - 3.25 0.088 2134.00 -412.5 107.06 - - 2219.16 - - - - - - - - - 15.87 -
12368.35 893.79 7.21 1350 12369.69 VBD 1.06 - - 2389.81 - - - 2133.38 - 107.06 - - 2215.47 - - - - - - - - - - -
12668.39 874.12 6.49 1380 12673.06 done 1.09 - - 2390.38 - 3.38 0.153 3474.50 396.8 107.06 - - 2216.81 - - - - - - - - - 15.95 -
12762.46 867.83 6.15 1399 12769.07 done 1.13 - - 2389.56 - 3.27 0.085 2134.69 -409.7 107.06 - - 2216.81 - - - - - - - - - 15.97 -
13068.44 848.13 6.12 1430 13069.88 1.17 0.20 0.113 2429.56 200.0 - - 2135.12 - 107.06 - - 2214.56 - - - - - - - - 15.98 - -
13368.48 829.28 6.40 1460 13369.81 VBD 1.20 - - 2430.44 - - - 2135.38 - 107.06 - - 2215.47 - - - - - - - - - - -
13668.51 811.76 6.18 1490 13669.84 VBD 1.24 - - 2430.31 - - - 2135.38 - 107.06 - - 2212.97 - - - - - - - - - - -
13968.54 793.79 6.08 1520 13969.87 VBD 1.28 - - 2430.00 - - - 2135.44 - 107.06 - - 2212.62 - - - - - - - - - - -
14268.57 774.37 5.39 1550 14319.58 1.35 0.23 0.113 2473.94 191.0 3.40 0.152 3473.44 393.5 159.94 43.33 2.054 2021.19 -4.4 0.278 - - - - - - 16.05 15.71 13.20
14398.59 760.62 12.41 1576 14403.24 roll 1.35 - - 2474.31 - 3.26 0.084 2133.00 -411.2 159.94 - - 2015.69 - - - - - - - - - 15.80 -
14708.63 722.87 12.59 1608 14709.96 VBD 1.35 - - 2474.00 - - - 2133.56 - 159.94 - - 2011.50 - - - - - - - - - - -
15008.69 687.81 11.73 1638 15010.02 VBD 1.35 - - 2474.25 - - - 2133.50 - 159.94 - - 2010.12 - - - - - - - - - - -
15308.75 653.52 10.65 1668 15310.08 VBD 1.35 - - 2474.00 - - - 2133.19 - 159.94 - - 2009.62 - - - - - - - - - - -
15608.81 621.31 10.48 1698 15610.14 VBD 1.35 - - 2473.94 - - - 2133.69 - 159.94 - - 2009.09 - - - - - - - - - - -
15908.87 590.36 9.73 1728 15910.20 VBD 1.35 - - 2471.12 - - - 2133.00 - 159.94 - - 2010.38 - - - - - - - - - - -
16208.96 561.52 9.73 1758 16213.77 done 1.35 - - 2472.12 - 3.34 0.148 3475.69 402.0 159.94 - - 2010.84 - - - - - - - - - 16.03 -
16278.97 553.51 11.79 1772 16283.48 done 1.35 - - 2473.00 - 3.19 0.081 2131.25 -421.5 159.94 - - 2010.44 - - - - - - - - - 16.04 -
16589.03 524.11 8.58 1804 16590.36 VBD 1.35 - - 2474.12 - - - 2131.62 - 159.94 - - 2007.50 - - - - - - - - - - -
16889.09 495.36 9.87 1834 16890.42 VBD 1.35 - - 2474.12 - - - 2131.56 - 159.94 - - 2007.28 - - - - - - - - - - -
17189.13 467.05 9.21 1864 17190.47 VBD 1.35 - - 2474.12 - - - 2131.56 - 159.94 - - 2007.09 - - - - - - - - - - -
17489.17 438.77 9.64 1894 17493.72 done 1.35 - - 2473.69 - 3.31 0.145 3473.56 405.4 159.94 - - 2008.31 - - - - - - - - - 16.05 -
17623.13 424.11 10.44 1921 17629.85 done 1.35 - - 2473.44 - 3.14 0.079 2130.50 -427.7 159.94 - - 2008.16 - - - - - - - - - 16.07 -
17929.24 396.82 8.76 1952 17933.77 done 1.35 - - 2474.31 - 3.29 0.143 3476.50 409.1 159.94 - - 2007.38 - - - - - - - - - 16.07 -
17989.26 390.50 10.45 1964 17993.91 done 1.35 - - 2474.38 - 3.17 0.077 2130.62 -424.6 159.94 - - 2007.34 - - - - - - - - - 16.06 -
18299.29 363.87 7.86 1996 18300.62 VBD 1.35 - - 2473.69 - - - 2131.00 - 159.94 - - 2006.34 - - - - - - - - - - -
18599.53 339.31 8.66 2026 18603.86 done 1.35 - - 2472.69 - 3.28 0.143 3476.94 410.3 159.94 - - 2006.50 - - - - - - - - - 16.08 -
18689.35 330.82 10.10 2044 18694.00 done 1.35 - - 2473.38 - 3.19 0.078 2131.38 -421.8 159.94 - - 2008.09 - - - - - - - - - 16.09 -
18999.38 304.09 9.34 2076 19000.71 VBD 1.35 - - 2471.25 - - - 2131.31 - 159.94 - - 2007.69 - - - - - - - - - - -
19299.41 278.83 8.22 2106 19303.95 done 1.35 - - 2473.81 - 3.31 0.142 3475.00 405.9 159.94 - - 2007.44 - - - - - - - - - 16.06 -
19393.37 270.74 8.81 2125 19400.10 done 1.35 - - 2473.75 - 3.21 0.076 2132.38 -418.3 159.94 - - 2008.25 - - - - - - - - - 16.08 -
19699.47 246.43 7.85 2156 19700.80 VBD 1.35 - - 2474.19 - - - 2131.56 - 159.94 - - 2007.28 - - - - - - - - - - -
19999.51 224.99 7.28 2186 20005.26 done 1.37 - - 2474.00 - 3.74 0.169 686.00 -386.5 159.94 - - 2005.97 - - - - - - - - - 16.07 -
20088.38 217.17 9.06 2204 20095.37 done 1.37 - - 2473.44 - 3.42 0.070 2172.94 434.8 159.94 - - 2005.75 - - - - - - - - - 16.08 -
20394.69 193.67 7.69 2235 20396.02 VBD 1.37 - - 2474.12 - - - 2173.38 - 159.94 - - 2004.91 - - - - - - - - - - -
20694.60 174.90 5.46 2265 20740.20 done 1.44 - - 2473.31 - 3.88 0.165 686.31 -383.3 211.34 40.47 1.356 1811.53 -4.8 0.103 - - - - - - - 15.87 13.25
20808.55 164.98 11.24 2288 20815.45 roll 1.44 - - 2474.31 - 3.46 0.069 2173.00 429.7 211.34 - - 1808.00 - - - - - - - - - 15.92 -
21114.67 137.96 8.39 2319 21116.00 VBD 1.44 - - 2473.62 - - - 2172.81 - 211.34 - - 1804.53 - - - - - - - - - - -
21414.75 118.21 6.44 2349 21419.41 done 1.47 - - 2473.69 - 3.23 0.138 3475.69 403.4 211.34 - - 1803.19 - - - - - - - - - 15.98 -
21518.76 111.53 5.94 2370 21557.19 1.53 0.21 0.104 2516.06 201.8 3.21 0.072 2131.19 -418.8 253.21 33.56 1.254 1640.84 -4.8 0.072 - - - - - - 15.98 16.00 13.14
21854.99 91.16 5.61 2421 21900.91 done 1.60 - - 2516.69 - 3.37 0.136 3474.31 398.6 301.76 39.06 1.224 1442.78 -5.1 0.063 - - - - - - - 15.72 13.21
22065.03 75.74 8.86 2463 22070.71 roll 1.60 - - 2516.62 - 3.26 0.072 2131.88 -411.8 301.76 - - 1438.25 - - - - - - - - - 15.82 -
22250.12 60.61 8.59 2500 22251.44 no move 1.60 - - 2516.00 - - - 2131.81 - 301.76 - - 1437.97 - - - - - - - - - - -
22430.18 49.62 4.75 2536 22482.29 1.69 0.20 0.111 2557.06 205.3 - - 2131.94 - 367.24 51.38 1.176 1177.91 -5.1 0.036 - - - - - - 15.88 - 13.07
22660.22 36.98 3.85 2582 22732.65 done 1.81 - - 2556.88 - 3.40 0.134 3474.25 394.8 450.75 65.22 1.135 837.41 -5.2 0.028 - - - - - - - 15.53 13.02
22950.39 18.23 8.06 2640 22956.05 roll 1.81 - - 2556.44 - 3.27 0.070 2129.75 -411.2 450.75 - - 834.31 - - - - - - - - - 15.71 -
23135.44 4.20 8.11 2677 23136.76 no move 1.81 - - 2556.56 - - - 2129.94 - 450.75 - - 833.44 - - - - - - - - - - -
23165 end climb: SURFACE_DEPTH_REACHED
23165 begin surface coast
23190 end surface coast: CONTROL_FINISHED_OK
23190 begin surface
SM 1.26 - - - - 181.5 - - 831.7 - 15.31 0.089 871.1 56.9 - 0.07 0.193 792.2 11317.1 -7.551 - - 30.00 15.76 15.79 -