NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 211 * Raw log
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• Previous call tries 1 • 66.53 of 575.00 AH used of 24V (88.43% remains)
• Surface angle -55.5 deg, depth 0.50 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.96 (SM_CC=425)
• GPS1 time: 2 s
• GPS2 time: 4 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
6.68 - - - 74.56 VBD -1.25 - - 178.69 - - - 2121.31 - -77.86 67.23 0.005 2101.84 - - - - - - - - - - 15.72
74.86 3.14 -4.48 13 116.97 -1.25 13.52 0.257 1834.44 122.5 3.67 0.117 3473.00 368.3 -77.86 18.39 0.006 2818.03 38.9 -3.378 - - - - - - 15.72 15.68 15.74
339.80 62.53 -18.07 66 345.55 roll -1.25 - - 1836.19 - 3.48 0.062 2082.94 -399.4 -77.86 - - 2817.62 - - - - - - - - - 15.86 -
524.89 87.53 -12.00 103 530.68 roll -1.25 - - 1835.88 - 3.73 0.116 3473.81 372.9 -77.86 - - 2817.66 - - - - - - - - - 15.89 -
584.94 95.59 -13.92 115 590.81 roll -1.25 - - 1835.94 - 3.52 0.059 2082.19 -395.3 -77.86 - - 2816.81 - - - - - - - - - 15.90 -
769.96 118.01 -11.90 137 771.28 no move -1.25 - - 1835.62 - - - 2082.62 - -77.86 - - 2816.69 - - - - - - - - - - -
1070.02 151.24 -11.00 167 1071.35 no move -1.25 - - 1835.56 - - - 2083.12 - -77.86 - - 2816.69 - - - - - - - - - - -
1370.09 182.79 -10.98 197 1371.42 no move -1.25 - - 1835.69 - - - 2082.69 - -77.86 - - 2817.12 - - - - - - - - - - -
1670.15 216.03 -10.60 227 1671.48 no move -1.25 - - 1835.31 - - - 2083.06 - -77.86 - - 2816.62 - - - - - - - - - - -
1970.18 246.81 -10.33 257 1975.90 roll -1.25 - - 1835.50 - 3.75 0.122 3473.88 370.9 -77.86 - - 2815.72 - - - - - - - - - 16.03 -
2045.22 255.28 -11.11 272 2049.87 roll -1.25 - - 1835.69 - 3.50 0.065 2083.94 -397.1 -77.86 - - 2818.34 - - - - - - - - - 16.03 -
2355.25 285.80 -9.52 304 2356.57 no move -1.25 - - 1835.75 - - - 2083.31 - -77.86 - - 2815.62 - - - - - - - - - - -
2655.28 314.36 -9.98 334 2656.61 no move -1.25 - - 1835.69 - - - 2083.19 - -77.86 - - 2815.19 - - - - - - - - - - -
2955.31 343.74 -9.51 364 2956.64 no move -1.25 - - 1835.62 - - - 2083.56 - -77.86 - - 2814.34 - - - - - - - - - - -
3255.35 373.96 -10.23 394 3256.68 no move -1.25 - - 1835.88 - - - 2083.06 - -77.86 - - 2813.81 - - - - - - - - - - -
3555.39 405.27 -10.29 424 3561.16 roll -1.25 - - 1835.56 - 4.05 0.169 664.00 -350.4 -77.86 - - 2810.91 - - - - - - - - - 16.05 -
3614.31 412.47 -11.87 436 3621.17 roll -1.25 - - 1835.06 - 3.54 0.064 2116.44 410.3 -77.86 - - 2815.00 - - - - - - - - - 16.08 -
3920.44 443.40 -10.09 467 3921.76 no move -1.25 - - 1835.38 - - - 2116.81 - -77.86 - - 2812.25 - - - - - - - - - - -
4220.46 474.44 -10.30 497 4221.79 no move -1.25 - - 1835.56 - - - 2117.06 - -77.86 - - 2811.75 - - - - - - - - - - -
4520.50 503.92 -9.98 527 4526.27 roll -1.25 - - 1835.25 - 4.09 0.170 662.81 -355.6 -77.86 - - 2809.91 - - - - - - - - - 16.06 -
4565.52 509.45 -13.28 536 4571.19 roll -1.25 - - 1835.62 - 3.56 0.065 2118.75 409.0 -77.86 - - 2813.03 - - - - - - - - - 16.09 -
4870.54 539.10 -9.77 567 4871.87 no move -1.25 - - 1835.50 - - - 2118.81 - -77.86 - - 2809.00 - - - - - - - - - - -
5170.57 567.47 -9.77 597 5176.35 roll -1.25 - - 1834.31 - 4.16 0.172 664.00 -349.7 -77.86 - - 2812.25 - - - - - - - - - 16.07 -
5245.59 575.57 -11.66 612 5250.27 roll -1.25 - - 1835.94 - 3.55 0.065 2117.56 409.5 -77.86 - - 2806.62 - - - - - - - - - 16.11 -
5555.62 603.94 -8.45 644 5556.95 no move -1.25 - - 1835.44 - - - 2117.31 - -77.86 - - 2808.41 - - - - - - - - - - -
5855.65 630.24 -8.45 674 5856.98 no move -1.25 - - 1835.31 - - - 2117.12 - -77.86 - - 2807.47 - - - - - - - - - - -
6155.73 655.81 -8.20 704 6161.53 roll -1.25 - - 1834.25 - 4.21 0.175 663.88 -345.2 -77.86 - - 2809.59 - - - - - - - - - 16.06 -
6194.67 659.71 -10.88 712 6201.50 roll -1.25 - - 1835.69 - 3.55 0.065 2116.75 409.3 -77.86 - - 2807.28 - - - - - - - - - 16.11 -
6500.81 684.99 -7.78 743 6502.14 no move -1.25 - - 1835.31 - - - 2116.44 - -77.86 - - 2806.91 - - - - - - - - - - -
6800.87 709.25 -7.13 773 6802.20 no move -1.25 - - 1835.69 - - - 2116.88 - -77.86 - - 2806.06 - - - - - - - - - - -
7100.94 733.18 -8.16 803 7106.73 roll -1.25 - - 1835.69 - 4.20 0.178 664.12 -345.9 -77.86 - - 2805.50 - - - - - - - - - 16.07 -
7219.91 744.07 -10.29 827 7226.75 roll -1.25 - - 1835.69 - 3.59 0.071 2114.44 404.0 -77.86 - - 2808.22 - - - - - - - - - 16.11 -
7526.05 765.89 -8.23 858 7527.38 no move -1.25 - - 1835.75 - - - 2114.25 - -77.86 - - 2805.41 - - - - - - - - - - -
7826.11 787.24 -7.53 888 7831.90 roll -1.25 - - 1833.88 - 4.20 0.179 664.75 -345.1 -77.86 - - 2807.75 - - - - - - - - - 16.06 -
7905.06 794.37 -9.00 904 7911.91 roll -1.25 - - 1835.94 - 3.60 0.072 2116.06 403.1 -77.86 - - 2805.69 - - - - - - - - - 16.10 -
8211.18 816.96 -7.42 935 8212.51 no move -1.25 - - 1835.88 - - - 2116.81 - -77.86 - - 2803.78 - - - - - - - - - - -
8511.21 837.72 -6.81 965 8512.54 no move -1.25 - - 1835.75 - - - 2116.00 - -77.86 - - 2802.72 - - - - - - - - - - -
8811.24 861.19 -7.98 995 8812.57 no move -1.25 - - 1835.44 - - - 2116.56 - -77.86 - - 2803.22 - - - - - - - - - - -
9111.28 884.81 -7.82 1025 9112.61 no move -1.25 - - 1835.81 - - - 2116.25 - -77.86 - - 2803.22 - - - - - - - - - - -
9411.32 906.30 -7.38 1055 9412.65 no move -1.25 - - 1835.56 - - - 2116.62 - -77.86 - - 2804.09 - - - - - - - - - - -
9711.35 927.51 -8.02 1085 9712.68 no move -1.25 - - 1834.12 - - - 2116.69 - -77.86 - - 2805.69 - - - - - - - - - - -
10011.38 950.63 -7.72 1115 10017.19 roll -1.25 - - 1835.31 - 4.26 0.183 663.62 -341.1 -77.86 - - 2803.00 - - - - - - - - - 16.06 -
10090.32 958.09 -9.72 1131 10097.18 roll -1.25 - - 1835.62 - 3.61 0.078 2111.12 401.0 -77.86 - - 2802.38 - - - - - - - - - 16.10 -
10396.45 982.08 -7.21 1162 10397.78 no move -1.25 - - 1835.69 - - - 2111.25 - -77.86 - - 2800.78 - - - - - - - - - - -
10496 end dive: TARGET_DEPTH_EXCEEDED
10496 begin apogee
10497.70 990.09 -7.96 1172 10564.45 -0.25 1.73 0.159 2079.56 141.0 0.07 0.327 2185.56 1061.6 - 63.10 2.293 2499.31 -4.8 0.342 - - - - - - 16.05 15.59 13.05
10565 end apogee: CONTROL_FINISHED_OK
10565 begin climb
10565.95 992.13 - 1178 10643.04 1.25 2.48 0.099 2449.25 149.1 - - 2186.19 - 77.86 72.60 2.230 2180.38 -4.4 0.324 - - - - - - 15.63 - 12.85
10939.14 959.95 9.71 1216 10940.48 VBD 1.25 - - 2449.00 - - - 2186.25 - 77.86 - - 2167.22 - - - - - - - - - - -
11238.99 930.43 9.40 1246 11240.32 VBD 1.25 - - 2448.81 - - - 2186.44 - 77.86 - - 2165.09 - - - - - - - - - - -
11539.05 900.58 10.72 1276 11540.38 VBD 1.25 - - 2448.31 - - - 2186.00 - 77.86 - - 2164.06 - - - - - - - - - - -
11839.11 868.95 9.77 1306 11844.72 done 1.25 - - 2448.38 - 3.60 0.139 3471.62 357.1 77.86 - - 2166.72 - - - - - - - - - 15.90 -
11964.16 854.29 12.93 1331 11968.86 done 1.25 - - 2446.94 - 3.22 0.070 2184.62 -399.7 77.86 - - 2166.94 - - - - - - - - - 15.92 -
12274.20 822.22 11.57 1363 12275.53 VBD 1.25 - - 2448.75 - - - 2185.25 - 77.86 - - 2162.38 - - - - - - - - - - -
12574.23 796.96 8.60 1393 12579.84 done 1.25 - - 2448.88 - 3.56 0.136 3471.00 361.2 77.86 - - 2161.06 - - - - - - - - - 15.97 -
12679.27 786.39 9.88 1414 12683.82 done 1.25 - - 2448.50 - 3.21 0.067 2183.50 -401.1 77.86 - - 2165.12 - - - - - - - - - 15.98 -
12989.31 762.13 7.37 1446 12995.15 done 1.27 - - 2448.06 - 4.11 0.155 736.31 -352.1 77.86 - - 2160.12 - - - - - - - - - 15.97 -
13044.38 757.37 9.69 1457 13050.08 done 1.27 - - 2448.81 - 3.65 0.066 2217.50 405.8 77.86 - - 2159.06 - - - - - - - - - 16.00 -
13349.37 733.76 7.31 1488 13350.70 VBD 1.30 - - 2448.62 - - - 2217.06 - 77.86 - - 2160.84 - - - - - - - - - - -
13649.38 710.88 7.87 1518 13650.71 VBD 1.30 - - 2448.00 - - - 2216.75 - 77.86 - - 2159.22 - - - - - - - - - - -
13949.42 687.10 7.92 1548 13950.75 VBD 1.30 - - 2448.88 - - - 2217.44 - 77.86 - - 2158.94 - - - - - - - - - - -
14249.45 662.47 7.73 1578 14250.78 VBD 1.30 - - 2448.25 - - - 2216.75 - 77.86 - - 2160.97 - - - - - - - - - - -
14549.49 638.47 7.99 1608 14550.83 VBD 1.30 - - 2448.62 - - - 2217.38 - 77.86 - - 2160.12 - - - - - - - - - - -
14849.52 613.58 8.35 1638 14855.12 done 1.30 - - 2448.19 - 3.46 0.137 3472.19 362.7 77.86 - - 2159.94 - - - - - - - - - 16.05 -
14918.40 606.82 9.72 1652 14925.24 done 1.30 - - 2449.25 - 3.18 0.067 2182.31 -405.6 77.86 - - 2160.22 - - - - - - - - - 16.04 -
15224.59 583.43 7.07 1683 15225.93 VBD 1.32 - - 2448.94 - - - 2183.06 - 77.86 - - 2160.50 - - - - - - - - - - -
15524.62 562.59 7.17 1713 15525.96 VBD 1.35 - - 2449.44 - - - 2182.75 - 77.86 - - 2160.16 - - - - - - - - - - -
15824.66 543.56 6.30 1743 15826.13 1.40 0.19 0.112 2490.62 216.7 - - 2182.75 - 77.86 - - 2159.47 - - - - - - - - 16.04 - -
16124.72 523.78 7.05 1773 16130.60 done 1.43 - - 2491.12 - 4.05 0.148 736.38 -357.1 77.86 - - 2159.53 - - - - - - - - - 16.05 -
16239.74 515.31 7.70 1796 16245.39 done 1.43 - - 2491.62 - 3.62 0.065 2219.44 409.7 77.86 - - 2156.59 - - - - - - - - - 16.07 -
16544.83 493.65 6.71 1827 16546.16 VBD 1.47 - - 2491.25 - - - 2219.38 - 77.86 - - 2156.84 - - - - - - - - - - -
16844.88 473.08 6.64 1857 16850.46 done 1.52 - - 2489.69 - 3.45 0.132 3472.00 363.1 77.86 - - 2159.19 - - - - - - - - - 16.06 -
16989.95 461.53 7.34 1886 16994.47 done 1.54 - - 2491.50 - 3.19 0.064 2181.38 -404.6 77.86 - - 2160.72 - - - - - - - - - 16.07 -
17299.99 440.14 7.60 1918 17305.61 done 1.54 - - 2491.44 - 3.51 0.128 3472.25 367.8 77.86 - - 2156.59 - - - - - - - - - 16.06 -
17408.89 431.83 6.60 1940 17415.80 1.58 0.19 0.101 2531.88 212.8 3.19 0.062 2181.44 -404.6 77.86 - - 2158.91 - - - - - - - - 16.04 16.07 -
17715.12 411.81 5.90 1971 17740.76 VBD 1.67 - - 2532.31 - - - 2181.31 - 108.50 24.60 1.581 2058.44 -4.1 0.176 - - - - - - - - 12.96
18035.15 385.34 9.20 2003 18036.48 no move 1.67 - - 2532.31 - - - 2182.19 - 108.50 - - 2050.66 - - - - - - - - - - -
18335.20 359.51 8.22 2033 18336.53 no move 1.67 - - 2532.38 - - - 2182.44 - 108.50 - - 2050.09 - - - - - - - - - - -
18635.22 333.89 9.27 2063 18636.55 no move 1.67 - - 2532.50 - - - 2181.75 - 108.50 - - 2049.88 - - - - - - - - - - -
18935.26 305.69 9.46 2093 18940.86 roll 1.67 - - 2532.38 - 3.54 0.127 3473.50 364.9 108.50 - - 2049.38 - - - - - - - - - 16.01 -
19034.19 295.19 10.44 2113 19040.97 roll 1.67 - - 2532.50 - 3.18 0.061 2180.38 -406.6 108.50 - - 2051.34 - - - - - - - - - 16.01 -
19340.33 267.47 8.60 2144 19341.65 no move 1.67 - - 2532.00 - - - 2180.81 - 108.50 - - 2049.09 - - - - - - - - - - -
19640.35 244.73 7.68 2174 19641.68 no move 1.67 - - 2532.06 - - - 2180.75 - 108.50 - - 2048.53 - - - - - - - - - - -
19940.40 222.69 7.02 2204 19945.98 done 1.70 - - 2532.81 - 3.49 0.125 3474.44 370.7 108.50 - - 2050.00 - - - - - - - - - 16.02 -
20079.26 210.52 8.68 2232 20086.10 roll 1.70 - - 2531.00 - 3.18 0.061 2181.94 -406.4 108.50 - - 2051.59 - - - - - - - - - 16.02 -
20385.46 188.68 7.63 2263 20386.79 VBD 1.70 - - 2532.38 - - - 2182.31 - 108.50 - - 2048.78 - - - - - - - - - - -
20685.50 166.77 7.33 2293 20686.97 1.72 0.16 0.113 2566.12 210.9 - - 2182.25 - 108.50 - - 2049.62 - - - - - - - - 16.02 - -
20985.54 143.38 7.01 2323 20986.87 VBD 1.76 - - 2566.75 - - - 2182.06 - 108.50 - - 2049.72 - - - - - - - - - - -
21285.57 124.00 5.09 2353 21322.22 1.88 0.17 0.106 2603.62 216.9 - - 2182.88 - 150.78 35.68 1.263 1886.38 -4.6 0.074 - - - - - - 16.03 - 12.93
21620.68 92.39 9.92 2395 21626.45 roll 1.88 - - 2604.75 - 4.05 0.137 736.19 -357.2 150.78 - - 1877.00 - - - - - - - - - 15.89 -
21765.64 76.53 10.30 2424 21771.39 done 1.88 - - 2605.19 - 3.60 0.057 2221.75 412.7 150.78 - - 1878.75 - - - - - - - - - 15.94 -
21950.72 66.48 4.57 2461 21997.38 2.03 0.17 0.099 2641.88 215.8 3.44 0.125 3471.94 363.4 200.47 40.53 1.185 1683.19 -4.8 0.045 - - - - - - 15.95 15.76 12.99
22135.76 52.42 8.12 2498 22141.47 roll 2.03 - - 2641.44 - 3.20 0.058 2179.50 -403.9 200.47 - - 1679.28 - - - - - - - - - 15.84 -
22320.86 39.91 6.75 2535 22322.19 no move 2.07 - - 2641.31 - - - 2180.50 - 200.47 - - 1675.12 - - - - - - - - - - -
22500.93 35.63 0.79 2571 22593.16 2.38 0.49 0.076 2726.12 173.1 4.12 0.134 736.62 -350.5 304.06 83.07 1.138 1259.94 -5.0 0.026 - - - - - - 15.89 15.56 12.88
22760.99 17.13 15.12 2623 22766.76 roll 2.38 - - 2724.81 - 3.62 0.057 2222.69 410.5 304.06 - - 1255.75 - - - - - - - - - 15.73 -
22870 end climb: SURFACE_DEPTH_REACHED
22870 begin surface coast
22885 end surface coast: CONTROL_FINISHED_OK
22885 begin surface
SM 0.74 - - - - 177.8 - 0.014 767.6 - 16.35 0.067 777.4 47.5 - 0.34 0.087 757.8 2218.2 -1.928 - - 30.36 15.73 15.78 -