NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 443 * Raw log
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• Previous call tries 1 • 131.44 of 575.00 AH used of 24V (77.14% remains)
• Surface angle -60.6 deg, depth 0.39 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.71 (SM_CC=425)
• GPS1 time: 47 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 - - - 85.76 VBD -1.25 - - 174.12 - - - 2119.31 - -77.86 78.12 0.005 2457.66 - - - - - - - - - - 15.31
86.03 3.18 -3.82 15 117.88 -1.25 14.42 0.256 1836.25 115.3 3.78 0.116 3473.50 358.3 -77.86 9.39 0.007 2816.38 38.2 -3.013 - - - - - - 15.43 15.31 15.35
150.63 16.62 -21.97 28 156.41 roll -1.25 - - 1836.81 - 3.58 0.060 2084.25 -388.1 -77.86 - - 2816.16 - - - - - - - - - 15.59 -
335.73 53.10 -19.18 65 337.06 no move -1.25 - - 1837.12 - - - 2084.25 - -77.86 - - 2816.66 - - - - - - - - - - -
515.80 82.01 -11.81 101 517.13 no move -1.25 - - 1836.75 - - - 2083.94 - -77.86 - - 2816.62 - - - - - - - - - - -
700.88 101.55 -10.45 137 706.67 roll -1.25 - - 1836.94 - 3.83 0.113 3475.00 363.2 -77.86 - - 2814.66 - - - - - - - - - 15.78 -
829.84 117.93 -12.57 163 836.77 roll -1.25 - - 1837.50 - 3.51 0.061 2082.94 -396.6 -77.86 - - 2818.62 - - - - - - - - - 15.81 -
1136.00 150.86 -10.42 194 1141.78 roll -1.25 - - 1836.81 - 4.11 0.155 663.62 -345.3 -77.86 - - 2814.69 - - - - - - - - - 15.80 -
1234.87 163.43 -13.65 214 1241.80 roll -1.25 - - 1837.12 - 3.56 0.054 2119.50 409.0 -77.86 - - 2817.22 - - - - - - - - - 15.85 -
1541.09 200.12 -11.69 245 1542.41 no move -1.25 - - 1837.12 - - - 2119.25 - -77.86 - - 2817.34 - - - - - - - - - - -
1841.11 232.37 -9.54 275 1842.44 no move -1.25 - - 1837.00 - - - 2119.00 - -77.86 - - 2817.16 - - - - - - - - - - -
2141.15 263.74 -10.65 305 2142.48 no move -1.25 - - 1836.62 - - - 2119.56 - -77.86 - - 2815.34 - - - - - - - - - - -
2441.18 297.10 -11.63 335 2442.51 no move -1.25 - - 1837.25 - - - 2119.44 - -77.86 - - 2817.31 - - - - - - - - - - -
2741.21 331.43 -11.20 365 2747.00 roll -1.25 - - 1836.81 - 4.17 0.154 663.56 -349.1 -77.86 - - 2817.12 - - - - - - - - - 15.87 -
2796.30 338.45 -13.01 376 2801.92 roll -1.25 - - 1837.12 - 3.56 0.056 2118.75 408.8 -77.86 - - 2815.34 - - - - - - - - - 15.92 -
3101.26 370.52 -10.09 407 3102.59 no move -1.25 - - 1837.31 - - - 2118.75 - -77.86 - - 2816.88 - - - - - - - - - - -
3401.30 398.83 -9.36 437 3402.62 no move -1.25 - - 1836.75 - - - 2118.75 - -77.86 - - 2816.88 - - - - - - - - - - -
3701.33 428.74 -10.08 467 3702.66 no move -1.25 - - 1837.12 - - - 2119.00 - -77.86 - - 2816.66 - - - - - - - - - - -
4001.36 458.01 -9.29 497 4007.14 roll -1.25 - - 1837.44 - 4.19 0.160 664.44 -347.2 -77.86 - - 2817.78 - - - - - - - - - 15.88 -
4076.38 466.56 -11.17 512 4082.06 roll -1.25 - - 1836.69 - 3.58 0.059 2115.88 405.4 -77.86 - - 2814.72 - - - - - - - - - 15.93 -
4381.41 496.72 -10.03 543 4382.74 no move -1.25 - - 1837.00 - - - 2116.44 - -77.86 - - 2816.22 - - - - - - - - - - -
4681.44 524.66 -9.09 573 4682.77 no move -1.25 - - 1837.00 - - - 2116.19 - -77.86 - - 2815.34 - - - - - - - - - - -
4981.47 550.59 -8.69 603 4982.80 no move -1.25 - - 1836.94 - - - 2116.38 - -77.86 - - 2815.53 - - - - - - - - - - -
5281.51 576.58 -7.61 633 5282.84 no move -1.25 - - 1836.69 - - - 2116.44 - -77.86 - - 2812.97 - - - - - - - - - - -
5581.54 602.79 -9.76 663 5587.34 roll -1.25 - - 1837.25 - 4.22 0.165 664.38 -344.1 -77.86 - - 2816.00 - - - - - - - - - 15.87 -
5656.56 609.93 -8.99 678 5662.25 roll -1.25 - - 1836.62 - 3.60 0.064 2116.69 403.4 -77.86 - - 2813.50 - - - - - - - - - 15.94 -
5961.62 635.29 -7.54 709 5967.42 roll -1.25 - - 1836.88 - 4.20 0.164 664.56 -345.7 -77.86 - - 2812.88 - - - - - - - - - 15.87 -
6006.64 639.77 -9.94 718 6012.31 roll -1.25 - - 1836.62 - 3.57 0.061 2117.00 406.8 -77.86 - - 2815.50 - - - - - - - - - 15.93 -
6311.84 666.11 -9.29 749 6313.17 no move -1.25 - - 1837.31 - - - 2116.88 - -77.86 - - 2814.28 - - - - - - - - - - -
6611.75 693.81 -9.54 779 6613.08 no move -1.25 - - 1837.06 - - - 2117.00 - -77.86 - - 2811.38 - - - - - - - - - - -
6911.81 719.50 -7.35 809 6917.53 roll -1.25 - - 1835.19 - 3.71 0.127 3473.25 365.6 -77.86 - - 2813.09 - - - - - - - - - 15.91 -
6990.85 727.13 -9.61 825 6997.59 roll -1.25 - - 1837.12 - 3.50 0.070 2086.31 -396.3 -77.86 - - 2812.72 - - - - - - - - - 15.94 -
7296.92 751.70 -6.78 856 7302.70 roll -1.25 - - 1837.00 - 4.16 0.172 663.44 -342.0 -77.86 - - 2810.50 - - - - - - - - - 15.85 -
7352.00 756.82 -8.83 867 7357.62 roll -1.25 - - 1836.38 - 3.57 0.064 2114.88 406.6 -77.86 - - 2814.78 - - - - - - - - - 15.93 -
7657.00 780.58 -8.69 898 7658.32 no move -1.25 - - 1836.94 - - - 2114.50 - -77.86 - - 2812.00 - - - - - - - - - - -
7957.04 804.59 -8.20 928 7962.85 roll -1.25 - - 1836.56 - 4.20 0.172 664.44 -345.3 -77.86 - - 2811.50 - - - - - - - - - 15.84 -
8082.09 816.89 -11.26 953 8087.81 roll -1.25 - - 1836.75 - 3.62 0.068 2115.19 400.8 -77.86 - - 2809.66 - - - - - - - - - 15.92 -
8387.13 844.24 -9.06 984 8392.93 roll -1.25 - - 1836.56 - 4.20 0.172 662.69 -345.8 -77.86 - - 2813.56 - - - - - - - - - 15.84 -
8436.13 849.63 -12.60 994 8442.92 roll -1.25 - - 1836.88 - 3.58 0.068 2117.06 406.2 -77.86 - - 2811.16 - - - - - - - - - 15.91 -
8742.18 879.66 -10.73 1025 8743.50 no move -1.25 - - 1836.69 - - - 2117.56 - -77.86 - - 2810.88 - - - - - - - - - - -
9042.22 906.45 -7.39 1055 9043.55 no move -1.25 - - 1836.75 - - - 2117.25 - -77.86 - - 2810.88 - - - - - - - - - - -
9342.26 927.80 -5.96 1085 9348.04 roll -1.25 - - 1836.56 - 4.24 0.176 663.62 -342.8 -77.86 - - 2808.81 - - - - - - - - - 15.83 -
9511.21 940.86 -6.78 1119 9518.06 roll -1.25 - - 1837.12 - 3.62 0.072 2113.12 400.4 -77.86 - - 2809.66 - - - - - - - - - 15.92 -
9817.33 957.91 -5.90 1150 9818.66 no move -1.25 - - 1836.62 - - - 2114.19 - -77.86 - - 2809.84 - - - - - - - - - - -
10117.35 980.89 -8.07 1180 10123.24 roll -1.25 - - 1836.81 - 4.24 0.178 664.06 -342.0 -77.86 - - 2807.44 - - - - - - - - - 15.81 -
10186.28 987.71 -9.03 1194 10193.14 roll -1.25 - - 1836.81 - 3.63 0.073 2112.94 399.1 -77.86 - - 2811.50 - - - - - - - - - 15.91 -
10222 end dive: TARGET_DEPTH_EXCEEDED
10222 begin apogee
10223.61 990.19 -6.93 1198 10294.35 -0.25 1.78 0.147 2080.62 137.0 0.08 0.298 2187.19 928.1 - 66.81 2.289 2498.72 -4.7 0.352 - - - - - - 15.83 15.10 12.19
10296 end apogee: CONTROL_FINISHED_OK
10296 begin climb
10296.30 992.16 - 1205 10375.55 1.25 2.64 0.089 2448.12 139.2 - - 2186.56 - 77.86 75.04 2.218 2180.19 -4.2 0.330 - - - - - - 15.17 - 12.39
10672.42 966.28 7.34 1243 10678.17 done 1.27 - - 2447.69 - 3.68 0.132 3473.38 349.7 77.86 - - 2170.47 - - - - - - - - - 15.52 -
10741.41 959.81 9.40 1257 10748.12 done 1.27 - - 2448.25 - 3.27 0.067 2184.69 -394.1 77.86 - - 2172.75 - - - - - - - - - 15.58 -
11047.45 937.60 7.60 1288 11048.79 VBD 1.27 - - 2447.69 - - - 2185.00 - 77.86 - - 2168.50 - - - - - - - - - - -
11347.49 916.09 7.65 1318 11353.34 done 1.27 - - 2447.12 - 4.11 0.153 737.25 -352.3 77.86 - - 2169.47 - - - - - - - - - 15.72 -
11496.40 904.26 7.80 1348 11503.45 done 1.27 - - 2447.75 - 3.64 0.062 2218.62 407.0 77.86 - - 2167.81 - - - - - - - - - 15.79 -
11802.60 880.82 7.57 1379 11803.93 VBD 1.27 - - 2445.75 - - - 2218.44 - 77.86 - - 2164.59 - - - - - - - - - - -
12102.61 858.79 6.78 1409 12108.19 done 1.31 - - 2447.69 - 3.50 0.134 3473.56 358.6 77.86 - - 2162.84 - - - - - - - - - 15.78 -
12201.61 850.88 7.74 1429 12208.60 done 1.31 - - 2447.56 - 3.21 0.065 2182.00 -402.4 77.86 - - 2164.59 - - - - - - - - - 15.84 -
12507.71 832.28 5.93 1460 12540.20 1.40 0.20 0.100 2490.12 212.8 4.16 0.148 737.31 -347.3 108.18 26.76 2.034 2055.22 -4.1 0.290 - - - - - - 15.83 15.49 12.29
12633.08 819.83 10.56 1485 12638.75 roll 1.40 - - 2490.25 - 3.68 0.060 2218.25 402.4 108.18 - - 2053.34 - - - - - - - - - 15.64 -
12938.10 789.02 11.28 1516 12939.43 no move 1.40 - - 2489.88 - - - 2218.69 - 108.18 - - 2052.38 - - - - - - - - - - -
13238.15 758.29 10.88 1546 13239.49 VBD 1.40 - - 2490.44 - - - 2218.38 - 108.18 - - 2050.44 - - - - - - - - - - -
13538.16 728.56 9.53 1576 13539.50 VBD 1.40 - - 2490.12 - - - 2218.00 - 108.18 - - 2049.44 - - - - - - - - - - -
13838.21 701.78 8.32 1606 13839.54 VBD 1.40 - - 2490.62 - - - 2218.62 - 108.18 - - 2048.53 - - - - - - - - - - -
14138.25 677.95 6.81 1636 14139.58 VBD 1.44 - - 2490.88 - - - 2218.38 - 108.18 - - 2049.84 - - - - - - - - - - -
14438.27 655.05 8.46 1666 14443.86 done 1.44 - - 2490.12 - 3.48 0.131 3473.38 360.6 108.18 - - 2050.66 - - - - - - - - - 15.85 -
14553.29 643.31 10.87 1689 14557.92 done 1.44 - - 2490.06 - 3.20 0.065 2181.69 -403.7 108.18 - - 2049.34 - - - - - - - - - 15.88 -
14863.33 610.77 11.45 1721 14864.66 VBD 1.44 - - 2490.12 - - - 2182.69 - 108.18 - - 2049.16 - - - - - - - - - - -
15163.36 579.11 9.86 1751 15168.11 done 1.44 - - 2490.56 - 3.60 0.126 3474.50 358.8 108.18 - - 2048.28 - - - - - - - - - 15.85 -
15213.91 574.32 10.39 1761 15219.18 done 1.44 - - 2489.94 - 3.19 0.063 2179.56 -405.9 108.18 - - 2049.09 - - - - - - - - - 15.89 -
15518.41 547.89 8.63 1792 15519.74 VBD 1.44 - - 2490.25 - - - 2180.25 - 108.18 - - 2048.69 - - - - - - - - - - -
15818.43 522.23 9.00 1822 15823.18 done 1.44 - - 2490.88 - 3.60 0.125 3473.19 359.2 108.18 - - 2048.75 - - - - - - - - - 15.87 -
15878.46 516.92 10.12 1834 15883.12 done 1.44 - - 2490.06 - 3.19 0.061 2179.88 -405.4 108.18 - - 2050.69 - - - - - - - - - 15.88 -
16188.49 490.53 8.39 1866 16189.82 VBD 1.44 - - 2490.25 - - - 2179.75 - 108.18 - - 2047.41 - - - - - - - - - - -
16488.53 466.08 7.39 1896 16489.86 VBD 1.46 - - 2490.12 - - - 2179.94 - 108.18 - - 2048.41 - - - - - - - - - - -
16788.63 442.27 8.14 1926 16789.97 VBD 1.46 - - 2490.38 - - - 2180.25 - 108.18 - - 2048.16 - - - - - - - - - - -
17088.62 420.93 6.93 1956 17094.44 done 1.49 - - 2487.75 - 4.05 0.140 736.50 -356.5 108.18 - - 2047.97 - - - - - - - - - 15.85 -
17167.47 414.29 8.58 1972 17174.42 done 1.49 - - 2490.50 - 3.63 0.058 2221.56 409.1 108.18 - - 2049.25 - - - - - - - - - 15.88 -
17473.72 395.28 6.22 2003 17475.19 1.55 0.15 0.099 2524.12 224.1 - - 2221.75 - 108.18 - - 2045.44 - - - - - - - - 15.88 - -
17773.78 374.59 6.94 2033 17779.40 done 1.58 - - 2523.38 - 3.48 0.122 3473.38 359.7 108.18 - - 2049.47 - - - - - - - - - 15.85 -
17869.00 366.71 8.17 2052 17873.34 done 1.58 - - 2524.12 - 3.19 0.059 2178.38 -406.0 108.18 - - 2048.88 - - - - - - - - - 15.87 -
18178.86 340.94 9.17 2084 18184.47 done 1.58 - - 2523.62 - 3.58 0.118 3472.94 361.6 108.18 - - 2045.28 - - - - - - - - - 15.84 -
18323.92 326.47 10.59 2113 18328.45 done 1.58 - - 2524.38 - 3.18 0.059 2178.38 -407.1 108.18 - - 2046.84 - - - - - - - - - 15.88 -
18633.98 298.74 8.25 2145 18635.31 VBD 1.58 - - 2523.44 - - - 2178.31 - 108.18 - - 2047.28 - - - - - - - - - - -
18934.15 276.54 6.29 2175 18939.66 done 1.63 - - 2523.62 - 3.58 0.118 3473.31 361.7 108.18 - - 2049.41 - - - - - - - - - 15.86 -
19009.16 270.86 7.44 2190 19013.61 done 1.65 - - 2523.69 - 3.18 0.058 2178.81 -407.1 108.18 - - 2046.97 - - - - - - - - - 15.87 -
19319.12 251.34 5.44 2222 19353.37 1.76 0.28 0.084 2575.62 185.5 - - 2178.56 - 145.37 32.38 1.412 1906.34 -4.3 0.134 - - - - - - 15.80 - 12.34
19649.16 220.05 10.27 2255 19650.49 no move 1.76 - - 2577.38 - - - 2178.94 - 145.37 - - 1901.19 - - - - - - - - - - -
19949.17 187.95 11.36 2285 19950.50 no move 1.76 - - 2577.62 - - - 2179.44 - 145.37 - - 1900.44 - - - - - - - - - - -
20249.21 157.91 9.57 2315 20254.81 done 1.76 - - 2577.12 - 3.60 0.116 3474.06 359.6 145.37 - - 1899.78 - - - - - - - - - 15.76 -
20454.26 131.85 14.10 2356 20458.80 roll 1.76 - - 2577.38 - 3.23 0.059 2179.38 -400.8 145.37 - - 1899.75 - - - - - - - - - 15.81 -
20759.29 99.05 8.43 2388 20765.13 done 1.76 - - 2577.75 - 4.03 0.131 735.38 -358.3 145.37 - - 1899.84 - - - - - - - - - 15.76 -
20989.43 86.82 3.59 2434 21050.66 1.96 0.22 0.082 2624.56 212.8 3.63 0.054 2226.62 410.8 209.00 52.83 1.221 1647.50 -4.8 0.059 - - - - - - 15.76 15.81 12.27
21229.48 71.88 6.39 2482 21235.13 roll 2.01 - - 2625.00 - 3.45 0.115 3473.19 361.3 209.00 - - 1642.50 - - - - - - - - - 15.61 -
21459.46 60.35 3.13 2528 21525.94 2.22 0.35 0.071 2686.19 174.8 3.22 0.053 2174.44 -403.3 279.26 58.40 1.166 1360.50 -4.8 0.043 - - - - - - 15.63 15.68 12.36
21704.47 39.36 12.15 2577 21710.25 roll 2.22 - - 2685.44 - 3.65 0.111 3473.12 355.8 279.26 - - 1356.31 - - - - - - - - - 15.53 -
21934.54 5.80 13.93 2623 21940.23 roll 2.22 - - 2687.44 - 3.27 0.055 2178.25 -396.0 279.26 - - 1354.84 - - - - - - - - - 15.67 -
21964 end climb: SURFACE_DEPTH_REACHED
21964 begin surface coast
21979 end surface coast: CONTROL_FINISHED_OK
21979 begin surface
SM 0.45 - - - - 172.8 0.03 0.336 768.6 25620.0 16.97 0.056 769.0 45.3 - 0.22 0.106 768.2 3477.0 -1.509 - - 15.13 15.64 15.68 -