NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 459 * Raw log
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• Previous call tries 3 • 136.49 of 575.00 AH used of 24V (76.26% remains)
• Surface angle -58.2 deg, depth 0.94 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.73 (SM_CC=425)
• GPS1 time: 15 s
• GPS2 time: 6 s • Transponder ping count: 3
• 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
7.15 - - - 85.82 VBD -1.25 - - 173.06 - - - 2116.12 - -77.86 78.07 0.005 2480.03 - - - - - - - - - - 15.27
86.09 3.29 -3.87 15 118.03 -1.25 14.36 0.256 1835.69 115.8 4.32 0.151 663.31 -336.3 -77.86 8.70 0.007 2817.34 38.8 -3.168 - - - - - - 15.45 15.29 15.33
215.83 32.09 -22.55 41 221.63 roll -1.25 - - 1835.94 - 3.63 0.053 2115.81 400.1 -77.86 - - 2816.16 - - - - - - - - - 15.62 -
400.91 62.97 -12.86 78 406.79 roll -1.25 - - 1836.12 - 4.26 0.145 662.38 -341.2 -77.86 - - 2816.72 - - - - - - - - - 15.65 -
435.93 68.18 -15.28 85 441.69 roll -1.25 - - 1836.00 - 3.57 0.049 2118.81 408.0 -77.86 - - 2816.34 - - - - - - - - - 15.71 -
621.00 93.19 -13.04 122 622.33 no move -1.25 - - 1836.00 - - - 2119.19 - -77.86 - - 2817.03 - - - - - - - - - - -
806.12 116.18 -11.81 146 811.83 roll -1.25 - - 1835.44 - 4.20 0.145 663.62 -346.6 -77.86 - - 2814.59 - - - - - - - - - 15.74 -
911.09 129.42 -12.83 167 915.76 roll -1.25 - - 1833.69 - 3.55 0.048 2118.25 409.8 -77.86 - - 2817.47 - - - - - - - - - 15.80 -
1221.14 162.04 -9.77 199 1222.47 no move -1.25 - - 1835.94 - - - 2120.06 - -77.86 - - 2817.12 - - - - - - - - - - -
1521.19 193.25 -10.57 229 1522.52 no move -1.25 - - 1835.75 - - - 2119.94 - -77.86 - - 2815.88 - - - - - - - - - - -
1821.22 226.30 -11.22 259 1827.02 roll -1.25 - - 1833.69 - 4.21 0.148 662.94 -346.1 -77.86 - - 2817.91 - - - - - - - - - 15.82 -
1890.29 235.68 -13.65 273 1897.00 roll -1.25 - - 1835.94 - 3.55 0.052 2119.62 410.3 -77.86 - - 2817.09 - - - - - - - - - 15.87 -
2196.27 269.64 -11.20 304 2197.59 no move -1.25 - - 1835.75 - - - 2119.44 - -77.86 - - 2816.94 - - - - - - - - - - -
2496.29 301.41 -10.90 334 2502.10 roll -1.25 - - 1836.19 - 4.22 0.149 662.38 -345.3 -77.86 - - 2815.25 - - - - - - - - - 15.84 -
2571.30 310.37 -12.50 349 2575.99 roll -1.25 - - 1835.19 - 3.55 0.051 2117.75 410.0 -77.86 - - 2818.47 - - - - - - - - - 15.90 -
2881.36 342.37 -9.76 381 2887.13 roll -1.25 - - 1834.44 - 4.18 0.150 663.56 -347.9 -77.86 - - 2817.31 - - - - - - - - - 15.84 -
2960.20 351.61 -11.51 397 2967.12 roll -1.25 - - 1836.00 - 3.52 0.052 2117.44 413.0 -77.86 - - 2818.00 - - - - - - - - - 15.90 -
3266.40 380.30 -9.68 428 3267.73 no move -1.25 - - 1835.69 - - - 2116.56 - -77.86 - - 2817.09 - - - - - - - - - - -
3566.43 407.02 -9.25 458 3572.22 roll -1.25 - - 1835.75 - 4.14 0.153 663.38 -351.0 -77.86 - - 2815.38 - - - - - - - - - 15.84 -
3621.54 412.70 -11.03 469 3627.13 roll -1.25 - - 1835.50 - 3.56 0.054 2116.81 408.3 -77.86 - - 2817.50 - - - - - - - - - 15.90 -
3926.49 439.77 -8.79 500 3927.82 no move -1.25 - - 1835.88 - - - 2116.31 - -77.86 - - 2816.69 - - - - - - - - - - -
4226.52 466.35 -8.50 530 4227.85 no move -1.25 - - 1835.44 - - - 2116.38 - -77.86 - - 2815.44 - - - - - - - - - - -
4526.55 492.33 -7.61 560 4527.88 no move -1.25 - - 1836.19 - - - 2116.75 - -77.86 - - 2816.22 - - - - - - - - - - -
4826.59 517.33 -8.09 590 4827.92 no move -1.25 - - 1836.25 - - - 2117.06 - -77.86 - - 2815.69 - - - - - - - - - - -
5126.62 541.43 -8.68 620 5127.95 no move -1.25 - - 1835.88 - - - 2117.50 - -77.86 - - 2815.34 - - - - - - - - - - -
5426.67 565.01 -7.66 650 5428.00 no move -1.25 - - 1836.00 - - - 2116.56 - -77.86 - - 2815.38 - - - - - - - - - - -
5726.73 588.92 -7.28 680 5732.53 roll -1.25 - - 1835.56 - 4.18 0.161 664.38 -347.4 -77.86 - - 2812.88 - - - - - - - - - 15.83 -
5781.83 593.98 -9.40 691 5787.44 roll -1.25 - - 1835.75 - 3.58 0.057 2115.56 405.4 -77.86 - - 2814.72 - - - - - - - - - 15.92 -
6086.82 618.15 -7.71 722 6088.15 no move -1.25 - - 1835.94 - - - 2115.69 - -77.86 - - 2814.38 - - - - - - - - - - -
6386.90 641.43 -7.50 752 6388.23 no move -1.25 - - 1835.19 - - - 2115.88 - -77.86 - - 2814.00 - - - - - - - - - - -
6686.94 664.02 -7.32 782 6692.75 roll -1.25 - - 1835.69 - 4.28 0.163 664.56 -339.1 -77.86 - - 2812.38 - - - - - - - - - 15.82 -
6742.04 669.39 -10.25 793 6747.66 roll -1.25 - - 1835.88 - 3.59 0.058 2115.62 404.2 -77.86 - - 2813.59 - - - - - - - - - 15.91 -
7047.03 694.26 -8.18 824 7048.36 no move -1.25 - - 1835.12 - - - 2115.19 - -77.86 - - 2813.72 - - - - - - - - - - -
7347.09 718.11 -8.43 854 7348.42 no move -1.25 - - 1835.62 - - - 2115.38 - -77.86 - - 2813.06 - - - - - - - - - - -
7647.14 744.04 -8.71 884 7648.47 no move -1.25 - - 1835.94 - - - 2114.56 - -77.86 - - 2812.75 - - - - - - - - - - -
7947.18 769.89 -8.19 914 7948.50 no move -1.25 - - 1835.69 - - - 2114.81 - -77.86 - - 2812.88 - - - - - - - - - - -
8247.21 794.80 -7.75 944 8248.54 no move -1.25 - - 1835.69 - - - 2115.12 - -77.86 - - 2812.25 - - - - - - - - - - -
8547.25 817.87 -8.54 974 8548.58 no move -1.25 - - 1835.31 - - - 2115.12 - -77.86 - - 2811.97 - - - - - - - - - - -
8847.28 840.17 -8.54 1004 8853.09 roll -1.25 - - 1835.81 - 4.27 0.171 663.38 -340.0 -77.86 - - 2810.47 - - - - - - - - - 15.80 -
8902.36 844.49 -8.19 1015 8908.00 roll -1.25 - - 1835.62 - 3.62 0.064 2113.56 400.6 -77.86 - - 2809.62 - - - - - - - - - 15.91 -
9207.33 867.38 -7.18 1046 9208.65 no move -1.25 - - 1835.38 - - - 2113.56 - -77.86 - - 2811.53 - - - - - - - - - - -
9507.35 890.88 -7.65 1076 9508.68 no move -1.25 - - 1835.31 - - - 2113.38 - -77.86 - - 2810.47 - - - - - - - - - - -
9807.39 913.84 -7.71 1106 9808.72 no move -1.25 - - 1835.12 - - - 2113.44 - -77.86 - - 2811.31 - - - - - - - - - - -
10107.42 935.62 -7.40 1136 10108.75 no move -1.25 - - 1836.00 - - - 2113.81 - -77.86 - - 2809.22 - - - - - - - - - - -
10407.46 957.56 -7.12 1166 10408.79 no move -1.25 - - 1835.50 - - - 2113.69 - -77.86 - - 2810.97 - - - - - - - - - - -
10707.49 978.38 -6.17 1196 10708.82 no move -1.25 - - 1835.81 - - - 2113.31 - -77.86 - - 2810.69 - - - - - - - - - - -
10877 end dive: TARGET_DEPTH_EXCEEDED
10877 begin apogee
10878.77 990.46 -7.25 1213 10950.37 -0.25 1.79 0.150 2080.25 136.6 0.07 0.301 2188.56 1075.0 - 68.19 2.269 2497.91 -4.6 0.348 - - - - - - 15.80 15.09 12.00
10952 end apogee: CONTROL_FINISHED_OK
10952 begin climb
10952.34 991.82 - 1220 11031.84 1.25 2.62 0.092 2447.50 140.2 - - 2188.12 - 77.86 75.66 2.209 2180.03 -4.2 0.328 - - - - - - 15.17 - 12.43
11327.55 961.48 9.64 1258 11328.88 VBD 1.25 - - 2447.62 - - - 2188.00 - 77.86 - - 2170.66 - - - - - - - - - - -
11627.58 935.04 8.15 1288 11628.91 VBD 1.25 - - 2447.81 - - - 2188.12 - 77.86 - - 2168.44 - - - - - - - - - - -
11927.62 908.91 9.32 1318 11932.39 done 1.25 - - 2446.94 - 3.63 0.131 3472.38 353.8 77.86 - - 2168.62 - - - - - - - - - 15.72 -
12047.63 898.37 9.69 1342 12052.21 done 1.25 - - 2447.31 - 3.31 0.063 2181.31 -390.1 77.86 - - 2167.38 - - - - - - - - - 15.76 -
12357.70 874.45 7.68 1374 12359.03 VBD 1.25 - - 2447.94 - - - 2182.06 - 77.86 - - 2166.44 - - - - - - - - - - -
12657.78 853.20 6.99 1404 12659.12 VBD 1.28 - - 2447.88 - - - 2181.94 - 77.86 - - 2164.41 - - - - - - - - - - -
12957.83 832.55 6.95 1434 12963.59 done 1.32 - - 2447.94 - 3.67 0.126 3473.38 351.9 77.86 - - 2163.56 - - - - - - - - - 15.81 -
13036.76 825.06 9.69 1450 13043.56 done 1.32 - - 2447.81 - 3.28 0.060 2183.38 -393.3 77.86 - - 2163.97 - - - - - - - - - 15.85 -
13342.92 801.83 8.92 1481 13344.25 VBD 1.32 - - 2447.81 - - - 2182.56 - 77.86 - - 2164.16 - - - - - - - - - - -
13642.98 778.54 8.36 1511 13644.31 VBD 1.32 - - 2447.19 - - - 2182.88 - 77.86 - - 2162.69 - - - - - - - - - - -
13943.05 755.23 7.61 1541 13944.38 VBD 1.32 - - 2448.19 - - - 2182.81 - 77.86 - - 2161.75 - - - - - - - - - - -
14243.10 732.19 8.28 1571 14248.87 done 1.32 - - 2446.94 - 3.65 0.125 3473.38 353.6 77.86 - - 2161.97 - - - - - - - - - 15.83 -
14302.00 727.64 7.32 1583 14308.84 done 1.34 - - 2447.56 - 3.29 0.059 2179.88 -393.2 77.86 - - 2164.28 - - - - - - - - - 15.86 -
14608.18 704.99 7.41 1614 14609.51 VBD 1.36 - - 2447.62 - - - 2180.19 - 77.86 - - 2163.25 - - - - - - - - - - -
14908.22 684.19 6.70 1644 14914.02 1.40 0.19 0.104 2486.38 204.0 3.67 0.122 3471.62 351.9 77.86 - - 2162.91 - - - - - - - - 15.86 15.83 -
15033.24 673.28 9.53 1669 15037.79 done 1.40 - - 2489.00 - 3.28 0.058 2181.88 -393.2 77.86 - - 2162.25 - - - - - - - - - 15.87 -
15343.29 650.48 7.49 1701 15344.63 VBD 1.42 - - 2489.19 - - - 2182.81 - 77.86 - - 2161.22 - - - - - - - - - - -
15643.31 628.40 7.92 1731 15644.64 VBD 1.42 - - 2489.12 - - - 2182.81 - 77.86 - - 2162.31 - - - - - - - - - - -
15943.36 608.04 6.96 1761 15944.69 VBD 1.45 - - 2489.25 - - - 2182.25 - 77.86 - - 2162.09 - - - - - - - - - - -
16243.39 587.24 6.92 1791 16244.73 VBD 1.48 - - 2489.25 - - - 2182.25 - 77.86 - - 2161.81 - - - - - - - - - - -
16543.42 566.12 7.70 1821 16544.75 VBD 1.48 - - 2488.75 - - - 2182.75 - 77.86 - - 2161.88 - - - - - - - - - - -
16843.60 545.43 5.82 1851 16874.14 1.58 0.21 0.094 2530.25 197.6 - - 2181.94 - 109.75 27.01 1.724 2052.72 -4.0 0.222 - - - - - - 15.85 - 12.23
17173.49 514.54 9.73 1884 17174.82 no move 1.58 - - 2530.88 - - - 2182.81 - 109.75 - - 2046.69 - - - - - - - - - - -
17473.52 485.79 9.04 1914 17474.85 no move 1.58 - - 2531.50 - - - 2182.06 - 109.75 - - 2044.94 - - - - - - - - - - -
17773.56 457.60 8.84 1944 17779.20 roll 1.58 - - 2531.44 - 3.73 0.121 3473.50 346.2 109.75 - - 2044.75 - - - - - - - - - 15.78 -
17878.58 447.05 9.97 1965 17883.15 roll 1.58 - - 2532.19 - 3.31 0.058 2180.00 -390.8 109.75 - - 2045.78 - - - - - - - - - 15.81 -
18188.62 418.72 8.68 1997 18189.94 no move 1.58 - - 2531.25 - - - 2180.31 - 109.75 - - 2045.38 - - - - - - - - - - -
18488.65 392.20 8.40 2027 18489.98 no move 1.58 - - 2531.38 - - - 2180.62 - 109.75 - - 2043.56 - - - - - - - - - - -
18788.71 365.32 8.90 2057 18790.04 no move 1.58 - - 2531.75 - - - 2180.00 - 109.75 - - 2044.19 - - - - - - - - - - -
19088.78 340.03 8.20 2087 19090.11 no move 1.58 - - 2531.44 - - - 2180.50 - 109.75 - - 2043.53 - - - - - - - - - - -
19388.84 316.02 8.12 2117 19394.69 roll 1.58 - - 2531.25 - 4.16 0.134 735.38 -347.4 109.75 - - 2043.62 - - - - - - - - - 15.77 -
19513.89 304.54 10.29 2142 19519.52 done 1.58 - - 2531.44 - 3.68 0.054 2220.81 403.6 109.75 - - 2043.88 - - - - - - - - - 15.84 -
19818.97 282.73 6.78 2173 19824.56 done 1.62 - - 2531.38 - 3.53 0.117 3473.00 354.7 109.75 - - 2042.16 - - - - - - - - - 15.77 -
19904.15 275.78 8.63 2190 19908.54 done 1.62 - - 2532.25 - 3.26 0.054 2177.19 -397.5 109.75 - - 2043.81 - - - - - - - - - 15.84 -
20214.06 254.75 6.60 2222 20219.68 done 1.66 - - 2529.44 - 3.65 0.114 3472.56 354.9 109.75 - - 2044.03 - - - - - - - - - 15.80 -
20272.96 250.67 6.66 2234 20279.92 done 1.70 - - 2531.94 - 3.26 0.053 2178.44 -397.0 109.75 - - 2043.50 - - - - - - - - - 15.80 -
20579.15 230.72 6.56 2265 20580.62 1.75 0.20 0.099 2571.25 196.5 - - 2177.88 - 109.75 - - 2044.22 - - - - - - - - 15.82 - -
20879.17 208.38 7.67 2295 20884.79 done 1.75 - - 2571.88 - 3.62 0.112 3472.25 357.6 109.75 - - 2042.31 - - - - - - - - - 15.82 -
20914.18 205.11 8.82 2302 20918.72 done 1.75 - - 2572.62 - 3.24 0.052 2178.44 -399.3 109.75 - - 2044.22 - - - - - - - - - 15.84 -
21224.23 181.53 7.22 2334 21229.99 done 1.77 - - 2570.69 - 4.12 0.128 736.62 -350.0 109.75 - - 2042.66 - - - - - - - - - 15.79 -
21313.14 173.69 8.86 2352 21320.01 done 1.77 - - 2572.31 - 3.63 0.051 2223.44 409.6 109.75 - - 2043.56 - - - - - - - - - 15.85 -
21619.29 150.67 7.34 2383 21620.62 VBD 1.79 - - 2572.44 - - - 2223.75 - 109.75 - - 2043.06 - - - - - - - - - - -
21919.32 128.53 7.20 2413 21923.89 done 1.82 - - 2572.00 - 3.45 0.114 3473.88 362.4 109.75 - - 2042.28 - - - - - - - - - 15.76 -
21999.62 122.52 7.77 2429 22005.03 done 1.82 - - 2572.00 - 3.23 0.051 2176.38 -401.7 109.75 - - 2042.91 - - - - - - - - - 15.84 -
22304.37 103.99 6.51 2460 22310.06 done 1.86 - - 2570.00 - 4.08 0.126 736.12 -353.0 109.75 - - 2044.16 - - - - - - - - - 15.78 -
22409.39 97.00 6.01 2481 22440.78 1.95 0.26 0.080 2623.06 204.1 3.65 0.048 2227.06 408.5 138.88 25.58 1.192 1933.62 -4.3 0.061 - - - - - - 15.70 15.84 12.25
22619.59 84.20 6.78 2523 22625.29 roll 1.99 - - 2623.19 - 4.23 0.121 736.06 -352.5 138.88 - - 1929.19 - - - - - - - - - 15.65 -
22779.47 72.75 6.27 2555 22785.23 roll 2.04 - - 2624.12 - 3.64 0.048 2224.75 409.0 138.88 - - 1928.47 - - - - - - - - - 15.73 -
22964.52 66.09 3.25 2592 23031.38 2.25 0.40 0.067 2693.69 173.9 4.28 0.121 736.50 -347.7 207.45 57.48 1.171 1652.31 -4.8 0.047 - - - - - - 15.73 15.35 12.35
23089.67 57.51 10.97 2617 23095.42 roll 2.25 - - 2693.88 - 3.68 0.049 2223.31 404.0 207.45 - - 1650.06 - - - - - - - - - 15.50 -
23274.57 50.97 2.34 2654 23346.81 2.49 0.33 0.072 2751.81 175.5 3.60 0.110 3471.88 346.8 288.94 66.96 1.128 1321.47 -4.9 0.039 - - - - - - 15.58 15.19 12.21
23569.62 8.00 20.41 2713 23575.33 roll 2.49 - - 2750.81 - 3.33 0.050 2180.56 -387.8 288.94 - - 1316.22 - - - - - - - - - 15.55 -
23609 end climb: SURFACE_DEPTH_REACHED
23609 begin surface coast
23624 end surface coast: CONTROL_FINISHED_OK
23624 begin surface
SM 0.66 - - - - 172.8 0.28 0.158 768.5 2744.6 17.49 0.065 771.6 44.1 - 0.23 0.105 765.4 3313.3 -2.129 - - 15.12 15.57 15.59 -