NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 391 * Raw log
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• Previous call tries 2 • 120.39 of 575.00 AH used of 24V (79.06% remains)
• Surface angle -64.2 deg, depth 0.54 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.73 (SM_CC=425)
• GPS1 time: 19 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
7.03 - - - 100.64 VBD -1.25 - - 172.88 - - - 2117.56 - -77.86 93.04 0.005 2554.75 - - - - - - - - - - 15.62
100.96 3.96 -5.41 18 128.54 -1.25 13.97 0.264 1835.75 119.0 3.65 0.114 3474.38 371.7 -77.86 6.21 0.008 2816.16 42.1 -3.602 - - - - - - 15.73 15.57 15.62
196.35 27.84 -23.29 37 202.02 roll -1.25 - - 1835.81 - 3.43 0.060 2082.31 -405.9 -77.86 - - 2817.31 - - - - - - - - - 15.83 -
381.33 67.41 -23.09 74 387.16 roll -1.25 - - 1835.88 - 3.96 0.152 663.19 -358.4 -77.86 - - 2816.72 - - - - - - - - - 15.83 -
611.39 108.00 -14.78 120 616.97 roll -1.25 - - 1835.75 - 3.47 0.050 2123.69 420.9 -77.86 - - 2817.72 - - - - - - - - - 15.89 -
916.40 141.21 -10.70 151 921.14 roll -1.25 - - 1836.44 - 3.59 0.109 3474.94 376.4 -77.86 - - 2816.56 - - - - - - - - - 15.90 -
946.42 144.52 -10.89 157 950.98 roll -1.25 - - 1835.81 - 3.37 0.055 2080.62 -413.7 -77.86 - - 2817.19 - - - - - - - - - 15.92 -
1256.43 179.53 -10.88 189 1262.21 roll -1.25 - - 1835.19 - 3.73 0.108 3473.31 373.4 -77.86 - - 2816.34 - - - - - - - - - 15.94 -
1331.46 189.24 -13.15 204 1336.01 roll -1.25 - - 1835.94 - 3.36 0.057 2079.06 -415.0 -77.86 - - 2817.84 - - - - - - - - - 15.94 -
1641.47 224.05 -11.02 236 1642.80 no move -1.25 - - 1835.50 - - - 2079.12 - -77.86 - - 2817.56 - - - - - - - - - - -
1941.49 255.65 -10.13 266 1947.31 roll -1.25 - - 1836.00 - 3.89 0.150 662.25 -364.2 -77.86 - - 2817.28 - - - - - - - - - 15.92 -
2010.37 264.56 -12.75 280 2017.25 roll -1.25 - - 1835.50 - 3.45 0.050 2121.25 422.9 -77.86 - - 2817.66 - - - - - - - - - 15.95 -
2316.55 295.89 -10.52 311 2321.28 roll -1.25 - - 1834.88 - 3.60 0.113 3473.38 375.6 -77.86 - - 2818.88 - - - - - - - - - 15.95 -
2370.41 301.80 -11.71 322 2377.28 roll -1.25 - - 1835.88 - 3.35 0.057 2079.12 -416.2 -77.86 - - 2818.22 - - - - - - - - - 15.96 -
2676.57 336.18 -11.33 353 2677.90 no move -1.25 - - 1835.88 - - - 2078.88 - -77.86 - - 2817.75 - - - - - - - - - - -
2976.60 369.05 -10.48 383 2982.38 roll -1.25 - - 1835.38 - 3.72 0.114 3473.94 375.0 -77.86 - - 2815.47 - - - - - - - - - 15.97 -
3081.62 381.31 -11.97 404 3086.19 roll -1.25 - - 1835.75 - 3.37 0.059 2082.06 -413.0 -77.86 - - 2818.41 - - - - - - - - - 15.96 -
3391.64 412.43 -9.77 436 3397.45 roll -1.25 - - 1835.94 - 3.92 0.154 662.62 -362.1 -77.86 - - 2816.94 - - - - - - - - - 15.93 -
3526.67 428.71 -12.18 463 3531.26 roll -1.25 - - 1835.25 - 3.46 0.052 2119.88 421.2 -77.86 - - 2819.00 - - - - - - - - - 15.97 -
3836.72 460.17 -9.27 495 3838.05 no move -1.25 - - 1836.19 - - - 2120.62 - -77.86 - - 2816.19 - - - - - - - - - - -
4136.77 489.40 -9.49 525 4142.61 roll -1.25 - - 1835.81 - 4.02 0.152 662.25 -362.8 -77.86 - - 2814.62 - - - - - - - - - 15.93 -
4221.81 499.01 -11.08 542 4226.39 roll -1.25 - - 1835.62 - 3.48 0.056 2118.06 418.3 -77.86 - - 2816.16 - - - - - - - - - 15.96 -
4531.85 529.66 -9.71 574 4537.69 roll -1.25 - - 1835.81 - 4.01 0.153 663.44 -362.7 -77.86 - - 2815.31 - - - - - - - - - 15.93 -
4656.90 544.15 -12.12 599 4662.49 roll -1.25 - - 1835.62 - 3.47 0.056 2120.25 419.8 -77.86 - - 2815.84 - - - - - - - - - 15.96 -
4961.95 571.56 -7.98 630 4963.28 no move -1.25 - - 1836.00 - - - 2119.75 - -77.86 - - 2814.34 - - - - - - - - - - -
5262.00 598.26 -8.55 660 5267.75 roll -1.25 - - 1835.44 - 3.60 0.121 3474.19 376.2 -77.86 - - 2813.72 - - - - - - - - - 15.95 -
5337.06 605.80 -10.04 675 5341.60 roll -1.25 - - 1835.31 - 3.37 0.063 2082.19 -413.1 -77.86 - - 2816.56 - - - - - - - - - 15.96 -
5647.09 632.33 -8.43 707 5652.87 roll -1.25 - - 1835.94 - 3.73 0.120 3473.50 373.0 -77.86 - - 2813.03 - - - - - - - - - 15.97 -
5672.11 634.43 -8.62 712 5676.68 roll -1.25 - - 1835.19 - 3.36 0.063 2081.31 -414.3 -77.86 - - 2816.03 - - - - - - - - - 15.96 -
5982.16 661.37 -9.32 744 5987.94 roll -1.25 - - 1835.75 - 3.75 0.119 3474.31 371.5 -77.86 - - 2814.72 - - - - - - - - - 15.96 -
6037.19 666.69 -10.10 755 6041.74 roll -1.25 - - 1836.19 - 3.37 0.064 2083.69 -412.6 -77.86 - - 2814.97 - - - - - - - - - 15.96 -
6347.19 691.96 -8.30 787 6353.00 roll -1.25 - - 1836.00 - 3.97 0.166 663.50 -357.7 -77.86 - - 2812.44 - - - - - - - - - 15.91 -
6436.19 701.18 -10.61 805 6442.96 roll -1.25 - - 1836.19 - 3.50 0.058 2116.69 415.2 -77.86 - - 2814.50 - - - - - - - - - 15.97 -
6742.25 728.17 -9.03 836 6748.05 roll -1.25 - - 1836.06 - 3.64 0.124 3475.62 373.3 -77.86 - - 2812.00 - - - - - - - - - 15.94 -
6767.26 730.42 -9.93 841 6771.82 roll -1.25 - - 1835.50 - 3.36 0.065 2082.88 -414.5 -77.86 - - 2814.94 - - - - - - - - - 15.96 -
7077.29 756.00 -8.43 873 7083.10 roll -1.25 - - 1835.81 - 3.96 0.167 662.56 -358.7 -77.86 - - 2814.00 - - - - - - - - - 15.90 -
7186.29 766.32 -9.30 895 7193.04 roll -1.25 - - 1835.75 - 3.50 0.060 2118.00 415.8 -77.86 - - 2813.38 - - - - - - - - - 15.96 -
7492.34 792.59 -8.39 926 7498.05 roll -1.25 - - 1835.00 - 4.07 0.165 663.38 -357.4 -77.86 - - 2812.56 - - - - - - - - - 15.90 -
7517.36 795.09 -8.66 931 7523.08 roll -1.25 - - 1835.62 - 3.48 0.059 2115.69 417.3 -77.86 - - 2811.53 - - - - - - - - - 15.95 -
7822.39 819.43 -7.45 962 7827.15 roll -1.25 - - 1835.88 - 3.62 0.125 3473.88 375.2 -77.86 - - 2813.06 - - - - - - - - - 15.93 -
7876.26 824.05 -8.45 973 7883.12 roll -1.25 - - 1835.56 - 3.39 0.065 2084.62 -409.8 -77.86 - - 2812.50 - - - - - - - - - 15.96 -
8182.43 846.79 -6.83 1004 8188.09 roll -1.25 - - 1835.06 - 3.99 0.170 663.56 -356.2 -77.86 - - 2812.75 - - - - - - - - - 15.90 -
8247.58 852.78 -9.61 1017 8253.17 roll -1.25 - - 1836.00 - 3.49 0.062 2116.88 416.4 -77.86 - - 2811.59 - - - - - - - - - 15.95 -
8452 end dive: TARGET_DEPTH_EXCEEDED
8452 begin apogee
8453.76 869.53 -7.85 1038 8524.28 -0.25 1.78 0.152 2079.56 136.8 0.08 0.279 2186.12 865.5 - 67.06 2.140 2499.69 -4.7 0.327 - - - - - - 15.88 15.15 12.36
8525 end apogee: CONTROL_FINISHED_OK
8525 begin climb
8526.11 869.71 - 1045 8610.87 1.25 2.61 0.092 2446.75 140.7 3.76 0.127 3473.88 342.5 77.86 74.22 2.088 2181.84 -4.3 0.308 - - - - - - 15.23 14.87 12.34
8612.57 865.79 4.63 1062 8666.50 1.40 0.20 0.094 2486.38 198.2 3.32 0.056 2182.19 -389.1 126.74 48.15 2.020 1982.72 -4.1 0.306 - - - - - - 15.02 15.03 12.20
8963.65 824.39 13.22 1102 8969.48 done 1.40 - - 2488.19 - 4.02 0.143 736.81 -359.5 126.74 - - 1969.09 - - - - - - - - - 15.52 -
8978.66 822.62 13.10 1105 8984.47 done 1.40 - - 2488.25 - 3.62 0.055 2218.56 409.3 126.74 - - 1969.22 - - - - - - - - - 15.54 -
9283.69 784.37 12.14 1136 9285.02 VBD 1.40 - - 2488.06 - - - 2218.25 - 126.74 - - 1968.06 - - - - - - - - - - -
9583.75 751.62 11.43 1166 9589.58 done 1.40 - - 2488.00 - 4.05 0.143 734.94 -366.2 126.74 - - 1966.75 - - - - - - - - - 15.76 -
9598.76 750.03 10.76 1169 9604.43 done 1.40 - - 2487.50 - 3.55 0.053 2219.00 418.0 126.74 - - 1965.56 - - - - - - - - - 15.79 -
9903.82 716.64 9.88 1200 9909.65 done 1.40 - - 2486.38 - 4.05 0.141 736.44 -366.1 126.74 - - 1964.59 - - - - - - - - - 15.81 -
9928.84 713.86 10.83 1205 9934.61 done 1.40 - - 2487.06 - 3.56 0.054 2220.00 416.7 126.74 - - 1964.25 - - - - - - - - - 15.83 -
10233.89 681.83 11.12 1236 10235.23 VBD 1.40 - - 2488.25 - - - 2219.81 - 126.74 - - 1963.41 - - - - - - - - - - -
10533.94 647.68 10.57 1266 10538.51 done 1.40 - - 2487.88 - 3.38 0.125 3473.94 371.0 126.74 - - 1964.72 - - - - - - - - - 15.86 -
10603.98 640.16 10.14 1280 10608.51 done 1.40 - - 2487.31 - 3.15 0.059 2181.19 -410.4 126.74 - - 1962.91 - - - - - - - - - 15.85 -
10914.04 611.07 8.26 1312 10919.65 done 1.40 - - 2485.62 - 3.51 0.120 3474.56 368.5 126.74 - - 1964.03 - - - - - - - - - 15.90 -
10922.89 610.08 8.88 1314 10929.74 done 1.40 - - 2487.75 - 3.12 0.055 2179.69 -415.0 126.74 - - 1963.41 - - - - - - - - - 15.89 -
11229.10 582.06 9.83 1345 11234.71 done 1.40 - - 2488.31 - 3.51 0.122 3472.38 368.3 126.74 - - 1961.75 - - - - - - - - - 15.90 -
11294.14 574.79 11.52 1358 11298.66 done 1.40 - - 2487.44 - 3.14 0.059 2182.19 -410.9 126.74 - - 1963.12 - - - - - - - - - 15.86 -
11604.17 548.70 8.81 1390 11608.79 done 1.40 - - 2486.56 - 3.48 0.120 3473.75 371.1 126.74 - - 1961.88 - - - - - - - - - 15.91 -
11714.43 536.72 11.05 1412 11718.76 done 1.40 - - 2488.31 - 3.11 0.058 2180.44 -415.9 126.74 - - 1961.84 - - - - - - - - - 15.86 -
12024.26 506.84 9.95 1444 12025.59 VBD 1.40 - - 2488.00 - - - 2180.56 - 126.74 - - 1961.34 - - - - - - - - - - -
12324.29 478.34 10.00 1474 12325.62 VBD 1.40 - - 2487.75 - - - 2180.75 - 126.74 - - 1959.53 - - - - - - - - - - -
12624.33 449.91 9.20 1504 12629.91 done 1.40 - - 2487.62 - 3.49 0.121 3473.00 370.3 126.74 - - 1959.56 - - - - - - - - - 15.92 -
12709.36 440.70 10.84 1521 12713.88 done 1.40 - - 2488.12 - 3.12 0.056 2181.12 -414.1 126.74 - - 1960.56 - - - - - - - - - 15.91 -
13019.38 411.63 9.27 1553 13020.72 VBD 1.40 - - 2488.00 - - - 2180.81 - 126.74 - - 1959.72 - - - - - - - - - - -
13319.41 385.10 8.71 1583 13325.23 done 1.40 - - 2487.56 - 3.93 0.137 735.62 -367.7 126.74 - - 1958.62 - - - - - - - - - 15.90 -
13408.34 374.74 11.92 1601 13415.47 done 1.40 - - 2487.44 - 3.56 0.052 2222.75 417.7 126.74 - - 1960.97 - - - - - - - - - 15.92 -
13714.46 347.63 8.07 1632 13720.22 done 1.40 - - 2488.06 - 4.02 0.132 735.62 -369.9 126.74 - - 1958.75 - - - - - - - - - 15.90 -
13753.39 343.97 9.16 1640 13760.22 done 1.40 - - 2487.88 - 3.55 0.050 2225.06 419.6 126.74 - - 1960.91 - - - - - - - - - 15.84 -
14059.50 317.99 8.86 1671 14060.83 VBD 1.40 - - 2488.94 - - - 2225.69 - 126.74 - - 1958.81 - - - - - - - - - - -
14359.53 292.92 8.08 1701 14364.09 done 1.40 - - 2488.25 - 3.37 0.118 3474.19 370.5 126.74 - - 1960.69 - - - - - - - - - 15.91 -
14413.41 288.01 9.35 1712 14420.24 done 1.40 - - 2488.88 - 3.13 0.052 2178.12 -414.1 126.74 - - 1959.56 - - - - - - - - - 15.85 -
14719.58 263.71 8.34 1743 14725.38 done 1.40 - - 2488.06 - 3.90 0.133 734.69 -370.1 126.74 - - 1960.12 - - - - - - - - - 15.91 -
14754.60 260.10 10.03 1750 14759.46 done 1.40 - - 2488.88 - 3.55 0.048 2222.56 419.1 126.74 - - 1957.66 - - - - - - - - - 15.92 -
15064.63 234.99 7.88 1782 15069.22 done 1.40 - - 2488.06 - 3.32 0.116 3473.25 376.7 126.74 - - 1960.22 - - - - - - - - - 15.92 -
15204.67 223.34 7.50 1810 15209.19 done 1.42 - - 2488.25 - 3.12 0.053 2177.81 -415.2 126.74 - - 1959.06 - - - - - - - - - 15.91 -
15514.72 200.42 7.15 1842 15520.52 done 1.44 - - 2489.00 - 3.90 0.131 735.44 -369.8 126.74 - - 1957.88 - - - - - - - - - 15.89 -
15533.65 199.02 6.94 1846 15540.47 done 1.48 - - 2488.75 - 3.53 0.047 2225.12 422.0 126.74 - - 1959.09 - - - - - - - - - 15.91 -
15839.79 178.42 6.96 1877 15845.59 done 1.51 - - 2487.75 - 4.02 0.127 734.31 -370.8 126.74 - - 1959.59 - - - - - - - - - 15.87 -
15868.71 176.14 7.32 1883 15875.53 done 1.53 - - 2489.62 - 3.53 0.047 2224.88 422.3 126.74 - - 1958.88 - - - - - - - - - 15.90 -
16174.86 156.18 6.51 1914 16180.74 1.58 0.20 0.087 2531.81 211.0 4.03 0.127 735.31 -369.6 126.74 - - 1959.66 - - - - - - - - 15.89 15.87 -
16183.71 155.58 6.59 1916 16190.62 done 1.62 - - 2532.25 - 3.53 0.048 2226.00 422.3 126.74 - - 1960.00 - - - - - - - - - 15.83 -
16489.92 133.49 7.05 1947 16495.65 done 1.65 - - 2532.06 - 4.00 0.125 735.19 -372.7 126.74 - - 1959.50 - - - - - - - - - 15.85 -
16568.76 127.00 8.61 1963 16575.69 done 1.65 - - 2533.00 - 3.54 0.049 2226.75 421.3 126.74 - - 1960.31 - - - - - - - - - 15.90 -
16875.01 105.52 6.24 1994 16876.34 VBD 1.70 - - 2533.19 - - - 2226.50 - 126.74 - - 1959.34 - - - - - - - - - - -
17175.12 91.65 4.91 2043 17216.83 1.84 0.34 0.075 2595.69 183.8 4.09 0.125 734.50 -364.8 171.62 34.92 1.206 1798.75 -4.6 0.060 - - - - - - 15.87 15.59 12.41
17440.20 73.95 4.70 2096 17486.89 1.98 0.16 0.095 2631.25 222.2 3.60 0.048 2228.00 414.9 219.44 39.97 1.176 1605.03 -4.8 0.053 - - - - - - 15.65 15.73 12.40
17665.24 67.28 2.52 2141 17737.54 2.22 0.30 0.070 2688.75 191.7 4.22 0.122 735.88 -353.6 298.43 63.93 1.168 1283.66 -5.0 0.050 - - - - - - 15.62 15.22 12.42
17960.35 30.77 17.36 2200 17966.11 roll 2.22 - - 2689.50 - 3.64 0.051 2223.94 408.8 298.43 - - 1278.56 - - - - - - - - - 15.60 -
18145.39 3.01 15.54 2237 18151.21 roll 2.22 - - 2689.00 - 4.09 0.124 736.12 -363.8 298.43 - - 1276.34 - - - - - - - - - 15.67 -
18155 end climb: SURFACE_DEPTH_REACHED
18155 begin surface coast
18165 end surface coast: CONTROL_FINISHED_OK
18165 begin surface
SM 0.66 - - - - 172.7 0.73 0.140 768.5 1052.7 16.64 0.061 768.4 46.2 - 3.31 0.047 768.6 231.0 -0.331 - - 15.17 15.65 15.70 -