NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 65 * Raw log
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• Previous call tries 1 • 23.93 of 350.00 AH used of 24V (93.16% remains)
• Surface angle -57.5 deg, depth 0.61 m • Intended pitch -20.5 deg, speed -8.049 cm/s
VBD pumped to 424.83 (SM_CC=425)
• GPS1 time: 37 s
• GPS2 time: 3 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
6 end surface: CONTROL_FINISHED_OK
6 begin dive
6.36 - - - 69.35 VBD -1.26 - - 179.06 - - - 2118.19 - -77.86 62.56 0.005 2221.16 - - - - - - - - - - 15.65
69.59 3.51 -4.88 12 106.81 -1.26 13.72 0.274 1833.69 120.6 4.12 0.177 664.31 -352.9 -77.86 14.13 0.006 2818.25 42.3 -4.089 - - - - - - 15.61 15.64 15.68
329.54 54.95 -16.67 64 335.29 roll -1.26 - - 1833.50 - 3.43 0.069 2118.88 424.1 -77.86 - - 2818.44 - - - - - - - - - 15.78 -
514.60 79.63 -11.84 101 520.40 roll -1.26 - - 1833.44 - 4.07 0.170 662.94 -357.7 -77.86 - - 2818.72 - - - - - - - - - 15.77 -
644.62 98.60 -13.87 127 650.32 roll -1.26 - - 1831.50 - 3.45 0.068 2118.88 422.0 -77.86 - - 2819.50 - - - - - - - - - 15.83 -
829.70 118.02 -9.43 147 831.02 no move -1.26 - - 1833.38 - - - 2119.44 - -77.86 - - 2819.19 - - - - - - - - - - -
1129.67 148.94 -11.37 177 1131.00 no move -1.26 - - 1832.94 - - - 2119.69 - -77.86 - - 2819.34 - - - - - - - - - - -
1429.74 181.97 -12.19 207 1434.30 roll -1.26 - - 1832.69 - 3.35 0.131 3478.00 405.5 -77.86 - - 2819.84 - - - - - - - - - 15.95 -
1499.78 190.55 -12.04 221 1504.34 roll -1.26 - - 1831.94 - 3.40 0.067 2083.56 -410.1 -77.86 - - 2820.03 - - - - - - - - - 15.98 -
1809.84 224.70 -10.50 253 1811.16 no move -1.26 - - 1833.50 - - - 2083.88 - -77.86 - - 2819.38 - - - - - - - - - - -
2109.89 257.28 -10.81 283 2115.69 roll -1.26 - - 1833.19 - 3.95 0.182 663.25 -359.7 -77.86 - - 2817.47 - - - - - - - - - 15.99 -
2144.92 261.71 -12.93 290 2149.50 roll -1.26 - - 1833.56 - 3.43 0.073 2116.94 423.8 -77.86 - - 2819.22 - - - - - - - - - 16.02 -
2454.97 294.30 -10.18 322 2460.79 roll -1.26 - - 1832.88 - 4.09 0.183 663.25 -355.4 -77.86 - - 2817.56 - - - - - - - - - 16.00 -
2520.10 302.23 -12.32 335 2524.63 roll -1.26 - - 1832.00 - 3.42 0.074 2115.69 424.7 -77.86 - - 2819.25 - - - - - - - - - 16.04 -
2830.07 335.15 -10.65 367 2831.39 no move -1.26 - - 1833.25 - - - 2116.56 - -77.86 - - 2818.25 - - - - - - - - - - -
3130.13 367.16 -10.76 397 3131.46 no move -1.26 - - 1833.06 - - - 2116.69 - -77.86 - - 2815.66 - - - - - - - - - - -
3430.18 398.17 -10.12 427 3436.00 roll -1.26 - - 1832.94 - 4.10 0.190 662.31 -354.7 -77.86 - - 2819.53 - - - - - - - - - 16.04 -
3505.27 406.98 -12.18 442 3509.86 roll -1.26 - - 1833.44 - 3.43 0.081 2117.94 424.4 -77.86 - - 2816.84 - - - - - - - - - 16.08 -
3815.25 438.51 -10.21 474 3816.58 no move -1.26 - - 1832.94 - - - 2117.81 - -77.86 - - 2816.69 - - - - - - - - - - -
4115.29 467.47 -10.05 504 4116.61 no move -1.26 - - 1832.69 - - - 2117.44 - -77.86 - - 2815.88 - - - - - - - - - - -
4415.32 496.87 -10.04 534 4421.17 roll -1.26 - - 1833.31 - 4.11 0.197 663.69 -353.7 -77.86 - - 2814.25 - - - - - - - - - 16.04 -
4520.34 509.55 -13.90 555 4525.05 roll -1.26 - - 1833.62 - 3.43 0.086 2116.69 423.6 -77.86 - - 2814.53 - - - - - - - - - 16.09 -
4830.37 542.46 -10.51 587 4831.70 no move -1.26 - - 1833.12 - - - 2116.88 - -77.86 - - 2812.34 - - - - - - - - - - -
5130.41 573.43 -10.61 617 5136.24 roll -1.26 - - 1833.56 - 4.12 0.199 663.50 -352.8 -77.86 - - 2814.09 - - - - - - - - - 16.07 -
5199.41 581.94 -12.97 631 5206.12 roll -1.26 - - 1833.31 - 3.47 0.087 2116.50 418.7 -77.86 - - 2814.97 - - - - - - - - - 16.11 -
5505.46 614.11 -10.37 662 5506.79 no move -1.26 - - 1833.50 - - - 2116.69 - -77.86 - - 2813.59 - - - - - - - - - - -
5805.49 641.94 -8.37 692 5811.30 roll -1.26 - - 1833.31 - 4.08 0.202 663.19 -356.2 -77.86 - - 2810.50 - - - - - - - - - 16.07 -
5900.51 652.12 -11.06 711 5905.22 roll -1.26 - - 1832.88 - 3.45 0.090 2116.31 421.2 -77.86 - - 2813.56 - - - - - - - - - 16.12 -
6210.55 678.35 -7.87 743 6211.88 no move -1.26 - - 1833.12 - - - 2116.12 - -77.86 - - 2809.94 - - - - - - - - - - -
6510.58 700.64 -7.08 773 6515.14 roll -1.26 - - 1833.06 - 3.35 0.147 3473.56 405.2 -77.86 - - 2812.56 - - - - - - - - - 16.10 -
6544.46 703.87 -9.23 780 6551.27 roll -1.26 - - 1833.31 - 3.39 0.081 2085.75 -409.4 -77.86 - - 2811.84 - - - - - - - - - 16.11 -
6850.62 725.90 -7.84 811 6851.95 no move -1.26 - - 1833.38 - - - 2086.19 - -77.86 - - 2811.44 - - - - - - - - - - -
7150.65 749.68 -8.61 841 7155.22 roll -1.26 - - 1833.38 - 3.44 0.150 3475.44 403.9 -77.86 - - 2811.03 - - - - - - - - - 16.11 -
7220.68 756.23 -10.59 855 7225.22 roll -1.26 - - 1833.12 - 3.36 0.087 2085.44 -413.7 -77.86 - - 2811.97 - - - - - - - - - 16.12 -
7530.72 783.00 -9.52 887 7536.51 roll -1.26 - - 1833.44 - 3.92 0.210 664.25 -362.5 -77.86 - - 2808.97 - - - - - - - - - 16.08 -
7595.75 789.86 -11.19 900 7600.31 roll -1.26 - - 1832.25 - 3.44 0.097 2115.19 421.8 -77.86 - - 2810.28 - - - - - - - - - 16.12 -
7905.81 819.15 -8.86 932 7907.13 no move -1.26 - - 1833.19 - - - 2116.69 - -77.86 - - 2809.78 - - - - - - - - - - -
8205.86 846.28 -9.52 962 8207.19 no move -1.26 - - 1832.94 - - - 2115.62 - -77.86 - - 2808.91 - - - - - - - - - - -
8505.93 872.55 -8.57 992 8507.26 no move -1.26 - - 1833.06 - - - 2115.75 - -77.86 - - 2807.56 - - - - - - - - - - -
8805.99 898.91 -9.32 1022 8811.83 roll -1.26 - - 1833.06 - 4.12 0.211 662.44 -352.7 -77.86 - - 2807.00 - - - - - - - - - 16.08 -
8875.01 906.12 -10.63 1036 8881.73 roll -1.26 - - 1832.81 - 3.49 0.099 2113.44 415.8 -77.86 - - 2807.72 - - - - - - - - - 16.13 -
9181.09 932.20 -7.73 1067 9185.77 roll -1.26 - - 1831.81 - 3.39 0.152 3474.69 401.5 -77.86 - - 2808.59 - - - - - - - - - 16.10 -
9234.98 937.15 -8.13 1078 9241.82 roll -1.26 - - 1833.19 - 3.46 0.089 2088.94 -400.5 -77.86 - - 2807.25 - - - - - - - - - 16.12 -
9541.17 962.66 -7.81 1109 9542.50 no move -1.26 - - 1833.56 - - - 2089.44 - -77.86 - - 2805.72 - - - - - - - - - - -
9841.23 986.55 -9.46 1139 9842.56 no move -1.26 - - 1833.44 - - - 2089.19 - -77.86 - - 2805.84 - - - - - - - - - - -
9892 end dive: TARGET_DEPTH_EXCEEDED
9892 begin apogee
9892.40 990.28 -8.33 1144 9961.97 -0.25 1.75 0.168 2079.00 140.3 0.06 0.352 2189.75 1676.0 - 64.41 2.280 2499.06 -4.8 0.342 - - - - - - 16.08 15.61 13.22
9963 end apogee: CONTROL_FINISHED_OK
9963 begin climb
9963.09 991.82 - 1151 10038.06 1.26 2.53 0.106 2448.62 146.1 - - 2190.69 - 77.86 71.46 2.234 2181.88 -4.4 0.326 - - - - - - 15.64 - 12.96
10331.29 961.30 9.86 1188 10335.82 done 1.26 - - 2447.25 - 3.35 0.147 3475.31 383.5 77.86 - - 2169.72 - - - - - - - - - 15.64 -
10345.14 960.29 9.53 1191 10352.08 done 1.26 - - 2448.88 - 3.23 0.071 2185.44 -399.3 77.86 - - 2169.84 - - - - - - - - - 15.66 -
10651.32 930.07 9.88 1222 10655.87 done 1.26 - - 2448.88 - 3.34 0.146 3473.88 385.8 77.86 - - 2165.62 - - - - - - - - - 15.78 -
10705.20 924.48 11.71 1233 10712.00 done 1.26 - - 2448.69 - 3.23 0.073 2184.31 -399.2 77.86 - - 2165.97 - - - - - - - - - 15.81 -
11011.37 894.23 9.79 1264 11015.92 done 1.26 - - 2448.31 - 3.31 0.145 3474.12 389.7 77.86 - - 2164.03 - - - - - - - - - 15.86 -
11045.24 890.49 9.88 1271 11052.03 done 1.26 - - 2448.69 - 3.17 0.072 2184.00 -407.0 77.86 - - 2165.41 - - - - - - - - - 15.90 -
11351.41 859.85 10.06 1302 11356.08 done 1.26 - - 2448.81 - 3.30 0.146 3475.62 391.4 77.86 - - 2164.78 - - - - - - - - - 15.91 -
11371.42 857.69 10.36 1306 11375.93 done 1.26 - - 2448.81 - 3.13 0.071 2183.06 -413.0 77.86 - - 2162.97 - - - - - - - - - 15.94 -
11681.45 827.73 9.30 1338 11686.18 done 1.26 - - 2448.62 - 3.27 0.144 3475.25 395.2 77.86 - - 2163.03 - - - - - - - - - 15.95 -
11721.46 823.71 10.05 1346 11725.98 done 1.26 - - 2448.94 - 3.12 0.070 2183.56 -414.0 77.86 - - 2162.91 - - - - - - - - - 15.97 -
12031.50 794.08 9.07 1378 12036.02 done 1.26 - - 2449.31 - 3.26 0.144 3473.62 395.7 77.86 - - 2162.28 - - - - - - - - - 15.98 -
12051.50 792.22 8.76 1382 12056.04 done 1.26 - - 2449.56 - 3.10 0.069 2183.00 -416.3 77.86 - - 2161.47 - - - - - - - - - 16.00 -
12361.53 762.70 9.16 1414 12367.33 done 1.26 - - 2449.06 - 3.91 0.170 737.06 -369.8 77.86 - - 2163.72 - - - - - - - - - 15.98 -
12386.54 760.49 9.35 1419 12391.18 done 1.26 - - 2448.62 - 3.49 0.069 2216.62 423.9 77.86 - - 2160.75 - - - - - - - - - 16.01 -
12696.57 732.59 8.97 1451 12701.07 done 1.26 - - 2448.94 - 3.17 0.145 3474.00 396.6 77.86 - - 2160.50 - - - - - - - - - 16.02 -
12736.58 729.53 7.66 1459 12741.08 done 1.26 - - 2448.88 - 3.13 0.069 2183.38 -412.3 77.86 - - 2160.41 - - - - - - - - - 16.03 -
13046.60 704.48 8.48 1491 13047.94 VBD 1.26 - - 2449.12 - - - 2183.50 - 77.86 - - 2159.12 - - - - - - - - - - -
13346.64 681.71 7.63 1521 13351.17 done 1.26 - - 2449.12 - 3.28 0.144 3474.56 393.6 77.86 - - 2160.34 - - - - - - - - - 16.04 -
13380.51 678.46 8.89 1528 13387.28 done 1.26 - - 2449.25 - 3.10 0.070 2181.81 -417.0 77.86 - - 2160.81 - - - - - - - - - 16.06 -
13686.68 654.64 9.27 1559 13691.21 done 1.26 - - 2448.94 - 3.28 0.142 3473.94 393.9 77.86 - - 2160.72 - - - - - - - - - 16.05 -
13696.68 653.99 9.42 1561 13701.18 done 1.26 - - 2449.19 - 3.10 0.068 2181.25 -417.0 77.86 - - 2161.00 - - - - - - - - - 16.07 -
14006.76 630.14 7.23 1593 14011.26 done 1.28 - - 2449.44 - 3.27 0.143 3474.75 395.6 77.86 - - 2160.09 - - - - - - - - - 16.06 -
14056.79 625.70 8.52 1603 14061.39 done 1.28 - - 2447.81 - 3.09 0.069 2180.75 -418.8 77.86 - - 2160.25 - - - - - - - - - 16.07 -
14366.84 602.39 7.24 1635 14372.62 done 1.31 - - 2449.50 - 3.86 0.166 736.00 -374.3 77.86 - - 2161.03 - - - - - - - - - 16.05 -
14385.77 600.39 8.28 1639 14392.54 done 1.31 - - 2449.12 - 3.46 0.066 2221.06 429.2 77.86 - - 2158.53 - - - - - - - - - 16.07 -
14691.91 578.55 7.33 1670 14697.71 done 1.33 - - 2449.31 - 4.03 0.161 736.00 -368.5 77.86 - - 2159.00 - - - - - - - - - 16.05 -
14760.90 572.06 9.37 1684 14767.62 done 1.33 - - 2448.50 - 3.49 0.066 2221.88 425.8 77.86 - - 2158.03 - - - - - - - - - 16.09 -
15066.98 548.29 7.87 1715 15071.49 done 1.33 - - 2449.19 - 3.16 0.142 3474.25 396.3 77.86 - - 2158.56 - - - - - - - - - 16.07 -
15096.99 545.82 7.82 1721 15101.51 done 1.33 - - 2449.62 - 3.11 0.067 2179.75 -416.2 77.86 - - 2158.28 - - - - - - - - - 16.09 -
15407.07 524.63 6.73 1753 15411.74 done 1.37 - - 2450.19 - 3.27 0.138 3475.12 396.1 77.86 - - 2158.66 - - - - - - - - - 16.08 -
15457.09 520.95 7.36 1763 15461.78 1.39 0.17 0.119 2483.56 196.3 3.11 0.066 2181.12 -416.1 77.86 - - 2159.03 - - - - - - - - 16.07 16.09 -
15767.16 498.53 6.62 1795 15772.94 done 1.43 - - 2483.44 - 3.91 0.159 737.00 -369.3 77.86 - - 2157.44 - - - - - - - - - 16.07 -
15892.19 487.78 8.36 1820 15896.75 done 1.43 - - 2484.06 - 3.47 0.067 2218.12 426.8 77.86 - - 2157.69 - - - - - - - - - 16.10 -
16202.25 467.84 6.71 1852 16208.03 done 1.47 - - 2483.94 - 4.00 0.155 735.88 -370.6 77.86 - - 2155.53 - - - - - - - - - 16.07 -
16217.26 466.92 6.86 1855 16221.81 done 1.51 - - 2484.50 - 3.43 0.062 2221.69 433.2 77.86 - - 2157.31 - - - - - - - - - 16.09 -
16527.29 449.88 4.91 1887 16568.73 1.65 0.34 0.095 2546.00 180.9 3.18 0.139 3475.56 394.3 123.26 36.71 1.651 1997.06 -4.4 0.197 - - - - - - 16.07 15.84 13.27
16577.29 446.35 7.06 1897 16581.92 roll 1.68 - - 2546.31 - 3.11 0.063 2179.12 -416.9 123.26 - - 1995.94 - - - - - - - - - 15.90 -
16887.31 413.07 11.11 1929 16891.84 roll 1.68 - - 2546.50 - 3.29 0.134 3474.25 393.7 123.26 - - 1990.66 - - - - - - - - - 15.94 -
16941.19 406.28 12.13 1940 16947.97 roll 1.68 - - 2545.88 - 3.11 0.066 2181.88 -415.6 123.26 - - 1991.25 - - - - - - - - - 15.96 -
17247.36 373.90 11.06 1971 17253.08 done 1.68 - - 2546.25 - 3.91 0.157 736.00 -369.8 123.26 - - 1987.84 - - - - - - - - - 15.96 -
17286.31 369.26 12.06 1979 17293.06 done 1.68 - - 2545.94 - 3.49 0.063 2221.94 425.8 123.26 - - 1988.88 - - - - - - - - - 15.99 -
17592.41 336.89 10.29 2010 17596.92 done 1.68 - - 2545.50 - 3.14 0.134 3476.50 399.5 123.26 - - 1989.09 - - - - - - - - - 15.99 -
17756.30 316.33 12.01 2043 17763.08 done 1.68 - - 2546.56 - 3.10 0.064 2180.94 -417.9 123.26 - - 1988.19 - - - - - - - - - 16.00 -
18062.48 283.55 11.18 2074 18067.35 done 1.68 - - 2544.56 - 3.26 0.133 3474.75 396.9 123.26 - - 1988.97 - - - - - - - - - 16.02 -
18162.51 271.56 11.72 2094 18167.15 done 1.68 - - 2546.12 - 3.11 0.065 2180.06 -416.3 123.26 - - 1988.03 - - - - - - - - - 16.03 -
18472.53 237.60 10.42 2126 18478.24 done 1.68 - - 2544.88 - 3.87 0.151 735.50 -373.3 123.26 - - 1989.50 - - - - - - - - - 15.99 -
18531.49 230.30 12.98 2138 18538.25 done 1.68 - - 2544.50 - 3.44 0.060 2222.50 432.3 123.26 - - 1988.09 - - - - - - - - - 16.05 -
18837.58 201.34 9.65 2169 18842.08 done 1.68 - - 2546.00 - 3.11 0.130 3475.31 402.8 123.26 - - 1987.09 - - - - - - - - - 16.04 -
18897.60 194.81 10.98 2181 18902.08 done 1.68 - - 2545.94 - 3.10 0.060 2177.88 -418.5 123.26 - - 1987.44 - - - - - - - - - 16.04 -
19207.63 166.02 8.90 2213 19208.96 VBD 1.68 - - 2545.88 - - - 2178.19 - 123.26 - - 1986.97 - - - - - - - - - - -
19507.66 141.15 7.63 2243 19513.39 done 1.68 - - 2545.50 - 3.85 0.147 735.12 -374.8 123.26 - - 1985.84 - - - - - - - - - 16.04 -
19536.60 138.26 8.18 2249 19543.50 done 1.68 - - 2546.81 - 3.43 0.060 2224.06 434.1 123.26 - - 1986.84 - - - - - - - - - 16.06 -
19842.71 117.54 5.85 2280 19869.65 VBD 1.77 - - 2546.75 - - - 2224.06 - 155.05 26.47 1.234 1868.78 -4.5 0.070 - - - - - - - - 13.20
20162.78 96.47 5.56 2318 20194.49 1.88 0.31 0.094 2599.88 171.4 - - 2223.69 - 191.09 30.12 1.208 1720.09 -4.9 0.065 - - - - - - 15.96 - 13.22
20372.87 79.19 8.51 2360 20378.49 roll 1.88 - - 2601.81 - 3.14 0.130 3475.69 398.7 191.09 - - 1716.53 - - - - - - - - - 15.87 -
20493.08 68.47 9.01 2384 20498.52 roll 1.88 - - 2602.56 - 3.09 0.061 2178.44 -419.8 191.09 - - 1714.69 - - - - - - - - - 15.91 -
20677.99 55.80 7.52 2421 20683.74 done 1.90 - - 2602.56 - 3.88 0.145 736.81 -371.6 191.09 - - 1712.38 - - - - - - - - - 15.91 -
20908.15 38.93 6.48 2467 20913.90 done 1.94 - - 2602.50 - 3.46 0.061 2224.94 430.1 191.09 - - 1713.09 - - - - - - - - - 15.96 -
21093.15 29.27 4.35 2504 21144.79 2.10 0.31 0.090 2657.38 177.0 3.15 0.129 3476.50 397.3 244.59 44.33 1.134 1500.66 -4.8 0.020 - - - - - - 15.94 15.75 13.10
21173.16 26.74 3.48 2520 21234.44 2.30 0.26 0.100 2701.81 170.9 3.12 0.056 2176.75 -416.6 310.67 54.18 1.115 1232.97 -4.9 0.020 - - - - - - 15.78 15.80 13.01
21413.28 22.62 0.89 2568 21501.82 2.61 0.46 0.090 2778.75 167.3 4.00 0.145 737.81 -359.7 414.35 82.40 1.091 810.72 -5.1 0.018 - - - - - - 15.70 15.45 12.98
21605 end climb: SURFACE_DEPTH_REACHED
21605 begin surface coast
21615 end surface coast: CONTROL_FINISHED_OK
21615 begin surface
SM 3.69 - - - - 180.4 - 0.010 768.1 - 17.34 0.109 779.7 44.9 - 3.29 0.058 756.6 228.8 -1.487 - - 30.36 15.57 15.62 -