NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 323 * Raw log
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• Previous call tries 1 • 99.09 of 575.00 AH used of 24V (82.77% remains)
• Surface angle -60.3 deg, depth 1.10 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.75 (SM_CC=425)
• GPS1 time: 31 s
• GPS2 time: 3 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
6 end surface: CONTROL_FINISHED_OK
6 begin dive
6.88 - - - 85.42 VBD -1.25 - - 174.00 - - - 2123.12 - -77.86 77.96 0.005 2509.44 - - - - - - - - - - 15.56
85.68 3.52 -3.81 15 117.52 -1.25 13.79 0.258 1835.69 120.5 4.36 0.157 664.00 -334.7 -77.86 7.62 0.008 2816.97 40.4 -3.000 - - - - - - 15.61 15.55 15.60
190.26 27.78 -23.13 36 196.05 roll -1.25 - - 1835.75 - 3.64 0.058 2116.19 399.0 -77.86 - - 2816.03 - - - - - - - - - 15.73 -
375.33 63.66 -16.00 73 376.65 no move -1.25 - - 1835.31 - - - 2116.25 - -77.86 - - 2816.31 - - - - - - - - - - -
555.36 89.09 -14.20 109 556.68 no move -1.25 - - 1835.38 - - - 2116.19 - -77.86 - - 2816.69 - - - - - - - - - - -
735.46 111.45 -11.51 136 741.19 roll -1.25 - - 1835.81 - 4.20 0.151 663.62 -345.9 -77.86 - - 2815.66 - - - - - - - - - 15.85 -
780.41 116.90 -11.70 145 786.01 roll -1.25 - - 1835.75 - 3.55 0.055 2119.06 410.0 -77.86 - - 2817.38 - - - - - - - - - 15.88 -
1085.43 149.40 -10.52 176 1091.14 roll -1.25 - - 1835.56 - 3.70 0.117 3472.94 365.9 -77.86 - - 2816.25 - - - - - - - - - 15.91 -
1250.46 169.74 -12.12 209 1255.12 roll -1.25 - - 1835.50 - 3.47 0.060 2083.75 -400.3 -77.86 - - 2818.62 - - - - - - - - - 15.94 -
1560.50 204.29 -11.24 241 1561.83 no move -1.25 - - 1835.88 - - - 2083.75 - -77.86 - - 2817.50 - - - - - - - - - - -
1860.53 235.38 -10.42 271 1861.86 no move -1.25 - - 1835.44 - - - 2084.06 - -77.86 - - 2817.34 - - - - - - - - - - -
2160.56 269.58 -11.77 301 2161.89 no move -1.25 - - 1835.94 - - - 2084.38 - -77.86 - - 2817.69 - - - - - - - - - - -
2460.60 303.98 -10.89 331 2461.92 no move -1.25 - - 1835.69 - - - 2083.56 - -77.86 - - 2817.56 - - - - - - - - - - -
2760.63 336.20 -11.04 361 2761.96 no move -1.25 - - 1835.38 - - - 2083.50 - -77.86 - - 2817.50 - - - - - - - - - - -
3060.66 367.86 -10.52 391 3061.99 no move -1.25 - - 1835.56 - - - 2083.56 - -77.86 - - 2817.38 - - - - - - - - - - -
3360.72 397.40 -9.68 421 3366.56 roll -1.25 - - 1835.88 - 4.09 0.164 663.62 -347.2 -77.86 - - 2815.44 - - - - - - - - - 16.00 -
3389.58 400.85 -11.27 427 3396.50 roll -1.25 - - 1835.75 - 3.56 0.060 2118.75 408.7 -77.86 - - 2816.59 - - - - - - - - - 16.03 -
3695.79 430.05 -8.69 458 3697.12 no move -1.25 - - 1835.69 - - - 2118.75 - -77.86 - - 2816.75 - - - - - - - - - - -
3995.85 458.59 -9.50 488 4001.64 roll -1.25 - - 1835.50 - 4.16 0.162 662.69 -350.0 -77.86 - - 2814.47 - - - - - - - - - 16.01 -
4070.87 466.63 -10.77 503 4075.56 roll -1.25 - - 1835.88 - 3.57 0.060 2117.00 407.4 -77.86 - - 2814.75 - - - - - - - - - 16.04 -
4380.94 497.47 -9.83 535 4382.27 no move -1.25 - - 1835.62 - - - 2118.50 - -77.86 - - 2815.72 - - - - - - - - - - -
4681.00 526.11 -9.40 565 4686.81 roll -1.25 - - 1835.50 - 4.22 0.166 663.69 -344.7 -77.86 - - 2817.94 - - - - - - - - - 16.01 -
4806.05 540.03 -11.30 590 4811.74 roll -1.25 - - 1834.25 - 3.56 0.063 2116.19 408.0 -77.86 - - 2815.00 - - - - - - - - - 16.05 -
5111.12 568.94 -9.42 621 5112.45 no move -1.25 - - 1835.62 - - - 2116.06 - -77.86 - - 2815.31 - - - - - - - - - - -
5411.17 595.94 -8.77 651 5412.50 no move -1.25 - - 1835.94 - - - 2116.00 - -77.86 - - 2812.25 - - - - - - - - - - -
5711.20 623.91 -9.45 681 5712.52 no move -1.25 - - 1835.50 - - - 2116.25 - -77.86 - - 2814.22 - - - - - - - - - - -
6011.23 651.89 -9.81 711 6012.56 no move -1.25 - - 1835.06 - - - 2115.69 - -77.86 - - 2811.91 - - - - - - - - - - -
6311.27 679.08 -10.23 741 6312.59 no move -1.25 - - 1835.56 - - - 2116.12 - -77.86 - - 2813.50 - - - - - - - - - - -
6611.30 704.88 -8.44 771 6612.63 no move -1.25 - - 1835.56 - - - 2116.38 - -77.86 - - 2813.16 - - - - - - - - - - -
6911.33 728.80 -7.55 801 6912.66 no move -1.25 - - 1835.50 - - - 2115.81 - -77.86 - - 2812.56 - - - - - - - - - - -
7211.37 752.66 -7.18 831 7217.10 roll -1.25 - - 1834.06 - 3.76 0.134 3470.88 360.4 -77.86 - - 2811.88 - - - - - - - - - 16.04 -
7280.32 758.91 -8.33 845 7287.13 roll -1.25 - - 1835.31 - 3.50 0.073 2085.81 -395.7 -77.86 - - 2812.03 - - - - - - - - - 16.06 -
7586.43 784.79 -8.76 876 7587.76 no move -1.25 - - 1835.31 - - - 2086.00 - -77.86 - - 2810.91 - - - - - - - - - - -
7886.46 808.74 -8.27 906 7892.25 roll -1.25 - - 1835.75 - 4.13 0.178 663.56 -344.4 -77.86 - - 2811.62 - - - - - - - - - 16.01 -
7925.41 812.11 -8.72 914 7932.24 roll -1.25 - - 1835.50 - 3.60 0.068 2115.75 403.4 -77.86 - - 2813.62 - - - - - - - - - 16.06 -
8231.51 835.06 -7.44 945 8232.84 no move -1.25 - - 1835.31 - - - 2115.88 - -77.86 - - 2811.41 - - - - - - - - - - -
8531.54 858.86 -8.06 975 8537.33 roll -1.25 - - 1835.56 - 4.20 0.177 663.75 -345.7 -77.86 - - 2808.59 - - - - - - - - - 16.01 -
8626.57 867.59 -11.51 994 8632.25 roll -1.25 - - 1835.62 - 3.59 0.071 2116.50 404.7 -77.86 - - 2809.09 - - - - - - - - - 16.06 -
8931.60 892.43 -7.67 1025 8932.93 no move -1.25 - - 1835.25 - - - 2115.94 - -77.86 - - 2810.53 - - - - - - - - - - -
9231.64 916.92 -8.89 1055 9237.44 roll -1.25 - - 1835.69 - 4.26 0.179 664.38 -340.7 -77.86 - - 2808.75 - - - - - - - - - 16.01 -
9310.57 924.51 -9.92 1071 9317.44 roll -1.25 - - 1835.81 - 3.60 0.072 2115.19 403.0 -77.86 - - 2811.69 - - - - - - - - - 16.06 -
9616.70 948.86 -9.22 1102 9618.03 no move -1.25 - - 1835.62 - - - 2114.88 - -77.86 - - 2810.22 - - - - - - - - - - -
9916.76 970.91 -8.11 1132 9918.09 no move -1.25 - - 1835.44 - - - 2114.62 - -77.86 - - 2809.56 - - - - - - - - - - -
10207 end dive: TARGET_DEPTH_EXCEEDED
10207 begin apogee
10208.06 990.81 -6.83 1161 10278.60 -0.25 1.75 0.154 2080.25 139.9 0.07 0.318 2187.06 1034.9 - 64.64 2.321 2499.31 -4.8 0.346 - - - - - - 15.98 15.57 12.70
10281 end apogee: CONTROL_FINISHED_OK
10281 begin climb
10280.31 992.48 - 1168 10358.98 1.25 2.52 0.094 2448.00 145.9 - - 2187.38 - 77.86 72.41 2.249 2181.38 -4.4 0.327 - - - - - - 15.61 - 12.89
10656.95 957.48 9.93 1206 10658.28 VBD 1.25 - - 2448.44 - - - 2187.12 - 77.86 - - 2170.56 - - - - - - - - - - -
10956.95 928.41 9.34 1236 10958.28 VBD 1.25 - - 2448.00 - - - 2187.25 - 77.86 - - 2166.50 - - - - - - - - - - -
11257.01 898.32 10.24 1266 11262.64 done 1.25 - - 2447.69 - 3.60 0.136 3474.50 357.6 77.86 - - 2165.56 - - - - - - - - - 15.84 -
11342.29 889.57 10.85 1283 11347.64 done 1.25 - - 2448.25 - 3.31 0.066 2183.69 -390.0 77.86 - - 2165.44 - - - - - - - - - 15.85 -
11647.13 861.72 7.39 1314 11652.89 done 1.27 - - 2448.06 - 4.15 0.153 737.06 -348.6 77.86 - - 2166.72 - - - - - - - - - 15.88 -
11792.17 845.76 9.64 1343 11797.93 done 1.27 - - 2448.38 - 3.67 0.063 2216.12 403.0 77.86 - - 2162.59 - - - - - - - - - 15.91 -
12097.20 816.02 10.35 1374 12098.54 VBD 1.27 - - 2449.12 - - - 2216.56 - 77.86 - - 2162.75 - - - - - - - - - - -
12397.24 789.34 8.80 1404 12402.84 done 1.27 - - 2448.06 - 3.52 0.134 3472.56 356.8 77.86 - - 2161.38 - - - - - - - - - 15.95 -
12506.17 778.86 10.30 1426 12512.97 done 1.27 - - 2447.12 - 3.29 0.065 2183.50 -391.8 77.86 - - 2163.47 - - - - - - - - - 15.97 -
12812.31 755.09 6.92 1457 12817.95 done 1.31 - - 2448.69 - 3.64 0.131 3472.06 354.0 77.86 - - 2161.50 - - - - - - - - - 15.97 -
12937.33 743.75 8.68 1482 12941.89 done 1.31 - - 2448.19 - 3.26 0.064 2182.50 -395.6 77.86 - - 2162.41 - - - - - - - - - 15.98 -
13247.38 719.77 8.15 1514 13248.71 VBD 1.31 - - 2448.62 - - - 2182.62 - 77.86 - - 2161.00 - - - - - - - - - - -
13547.42 697.13 7.15 1544 13553.25 done 1.33 - - 2448.12 - 4.12 0.149 737.25 -350.8 77.86 - - 2164.03 - - - - - - - - - 15.98 -
13612.49 690.59 10.25 1557 13618.04 done 1.33 - - 2448.44 - 3.63 0.061 2217.69 407.8 77.86 - - 2160.41 - - - - - - - - - 16.00 -
13917.46 666.59 8.34 1588 13923.04 done 1.33 - - 2448.88 - 3.50 0.132 3472.31 358.5 77.86 - - 2161.62 - - - - - - - - - 15.99 -
14012.55 657.73 9.41 1607 14017.03 done 1.33 - - 2448.62 - 3.24 0.063 2180.69 -398.6 77.86 - - 2161.09 - - - - - - - - - 16.00 -
14322.53 633.57 7.35 1639 14323.86 VBD 1.35 - - 2448.56 - - - 2180.69 - 77.86 - - 2161.50 - - - - - - - - - - -
14622.54 610.37 7.92 1669 14623.88 VBD 1.35 - - 2448.75 - - - 2180.75 - 77.86 - - 2160.31 - - - - - - - - - - -
14922.59 588.96 6.95 1699 14924.06 1.39 0.17 0.120 2486.19 220.2 - - 2180.56 - 77.86 - - 2160.69 - - - - - - - - 16.00 - -
15222.64 567.43 7.14 1729 15223.97 VBD 1.41 - - 2486.75 - - - 2180.50 - 77.86 - - 2160.16 - - - - - - - - - - -
15522.64 544.29 7.87 1759 15528.25 done 1.41 - - 2486.12 - 3.58 0.127 3473.44 361.2 77.86 - - 2162.34 - - - - - - - - - 16.02 -
15597.82 537.61 9.18 1774 15602.35 done 1.41 - - 2486.56 - 3.26 0.062 2179.81 -396.8 77.86 - - 2160.66 - - - - - - - - - 16.03 -
15907.74 515.20 7.46 1806 15909.07 VBD 1.43 - - 2486.50 - - - 2180.25 - 77.86 - - 2161.19 - - - - - - - - - - -
16207.81 495.59 6.22 1836 16209.14 VBD 1.49 - - 2486.25 - - - 2180.19 - 77.86 - - 2159.84 - - - - - - - - - - -
16507.85 476.55 6.73 1866 16509.19 VBD 1.53 - - 2486.56 - - - 2180.31 - 77.86 - - 2160.97 - - - - - - - - - - -
16807.90 456.55 7.64 1896 16809.24 VBD 1.53 - - 2486.75 - - - 2179.69 - 77.86 - - 2159.09 - - - - - - - - - - -
17107.98 436.64 6.52 1926 17113.72 1.57 0.20 0.097 2529.75 215.0 4.09 0.142 737.25 -352.7 77.86 - - 2158.94 - - - - - - - - 16.02 16.00 -
17266.95 423.43 8.33 1958 17273.81 done 1.57 - - 2529.75 - 3.62 0.057 2221.75 410.1 77.86 - - 2161.31 - - - - - - - - - 16.04 -
17573.12 402.73 6.95 1989 17574.45 VBD 1.61 - - 2529.81 - - - 2222.25 - 77.86 - - 2159.78 - - - - - - - - - - -
17873.17 385.52 5.62 2019 17903.88 VBD 1.71 - - 2529.62 - - - 2222.19 - 112.60 28.39 1.564 2041.84 -4.2 0.173 - - - - - - - - 12.74
18203.20 359.08 8.31 2052 18208.78 roll 1.71 - - 2530.50 - 3.49 0.123 3474.12 358.7 112.60 - - 2033.34 - - - - - - - - - 15.88 -
18362.16 342.78 10.23 2084 18368.96 roll 1.71 - - 2530.25 - 3.30 0.059 2180.62 -392.0 112.60 - - 2034.25 - - - - - - - - - 15.94 -
18668.29 316.70 8.94 2115 18669.62 no move 1.71 - - 2530.19 - - - 2180.62 - 112.60 - - 2031.72 - - - - - - - - - - -
18968.32 291.29 8.14 2145 18973.92 done 1.71 - - 2528.12 - 3.58 0.119 3472.38 360.8 112.60 - - 2032.75 - - - - - - - - - 15.98 -
19177.24 270.43 9.83 2187 19184.21 done 1.71 - - 2530.69 - 3.29 0.058 2180.69 -392.6 112.60 - - 2034.22 - - - - - - - - - 15.98 -
19483.40 245.22 7.83 2218 19484.73 VBD 1.71 - - 2530.75 - - - 2180.44 - 112.60 - - 2032.31 - - - - - - - - - - -
19783.44 222.23 7.60 2248 19784.77 VBD 1.71 - - 2530.81 - - - 2180.38 - 112.60 - - 2032.16 - - - - - - - - - - -
20083.47 199.29 7.35 2278 20084.94 1.73 0.18 0.112 2568.69 210.4 - - 2180.81 - 112.60 - - 2030.00 - - - - - - - - 15.98 - -
20383.50 174.53 7.63 2308 20389.11 done 1.73 - - 2568.62 - 3.53 0.117 3472.44 365.9 112.60 - - 2033.94 - - - - - - - - - 16.01 -
20612.40 154.56 9.60 2354 20619.34 done 1.73 - - 2568.75 - 3.27 0.057 2179.75 -395.3 112.60 - - 2032.09 - - - - - - - - - 16.00 -
20918.60 135.38 4.47 2385 20969.76 1.88 0.17 0.108 2605.94 218.8 4.12 0.134 736.44 -350.3 163.66 42.68 1.294 1832.50 -4.7 0.083 - - - - - - 15.98 15.78 12.69
20998.63 130.01 9.02 2401 21004.35 roll 1.88 - - 2606.56 - 3.65 0.054 2223.06 407.3 163.66 - - 1827.84 - - - - - - - - - 15.85 -
21303.63 100.48 10.11 2432 21308.20 done 1.88 - - 2606.94 - 3.46 0.117 3471.81 360.9 163.66 - - 1824.16 - - - - - - - - - 15.88 -
21513.69 88.07 3.88 2474 21566.93 2.06 0.22 0.097 2648.94 190.9 3.24 0.054 2178.19 -399.3 223.25 48.35 1.221 1588.69 -4.9 0.059 - - - - - - 15.85 15.90 12.74
21744.77 70.71 8.66 2520 21750.84 roll 2.06 - - 2648.56 - 4.11 0.132 736.19 -350.9 223.25 - - 1583.94 - - - - - - - - - 15.74 -
21974.86 52.15 7.61 2566 21980.62 done 2.06 - - 2648.81 - 3.68 0.056 2224.06 404.3 223.25 - - 1582.69 - - - - - - - - - 15.85 -
22159.97 44.97 3.33 2603 22222.23 2.27 0.25 0.082 2697.81 196.0 4.24 0.130 736.50 -350.8 290.61 54.22 1.149 1314.94 -4.9 0.033 - - - - - - 15.84 15.64 12.76
22445.10 5.19 18.10 2660 22450.87 roll 2.27 - - 2696.06 - 3.69 0.057 2221.81 402.5 290.61 - - 1310.78 - - - - - - - - - 15.77 -
22465 end climb: SURFACE_DEPTH_REACHED
22465 begin surface coast
22475 end surface coast: CONTROL_FINISHED_OK
22476 begin surface
SM 0.67 - - - - 175.2 0.19 0.175 768.4 4044.2 16.83 0.097 771.4 45.8 - 0.34 0.088 765.5 2240.6 -1.744 - - 15.44 15.72 15.79 -