NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 324 * Raw log
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• Previous call tries 2 • 99.40 of 575.00 AH used of 24V (82.71% remains)
• Surface angle -63.5 deg, depth 0.75 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.79 (SM_CC=425)
• GPS1 time: 18 s
• GPS2 time: 5 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
6.89 - - - 85.44 VBD -1.25 - - 174.12 - - - 2116.56 - -77.86 77.99 0.005 2493.22 - - - - - - - - - - 15.58
85.71 3.43 -4.13 15 117.53 -1.25 13.94 0.261 1834.56 119.1 3.80 0.120 3472.88 356.9 -77.86 8.09 0.007 2816.78 40.0 -3.304 - - - - - - 15.62 15.56 15.61
200.28 29.15 -21.82 38 206.08 roll -1.25 - - 1836.06 - 3.59 0.062 2084.44 -386.8 -77.86 - - 2816.44 - - - - - - - - - 15.76 -
385.34 66.45 -21.27 75 391.15 roll -1.25 - - 1835.69 - 3.84 0.113 3472.88 361.6 -77.86 - - 2815.94 - - - - - - - - - 15.81 -
435.36 75.82 -18.53 85 441.12 roll -1.25 - - 1836.00 - 3.51 0.059 2083.12 -395.9 -77.86 - - 2816.75 - - - - - - - - - 15.82 -
620.39 101.63 -13.46 121 626.17 roll -1.25 - - 1835.75 - 4.12 0.155 663.44 -344.6 -77.86 - - 2816.00 - - - - - - - - - 15.83 -
695.40 111.43 -13.80 136 701.01 roll -1.25 - - 1834.12 - 3.56 0.054 2118.12 408.6 -77.86 - - 2816.53 - - - - - - - - - 15.87 -
1000.52 143.98 -10.95 167 1006.14 roll -1.25 - - 1835.69 - 3.70 0.115 3473.31 366.3 -77.86 - - 2817.72 - - - - - - - - - 15.91 -
1145.47 161.28 -11.59 196 1150.12 roll -1.25 - - 1835.50 - 3.48 0.060 2081.88 -399.8 -77.86 - - 2819.91 - - - - - - - - - 15.93 -
1455.50 193.53 -10.93 228 1461.26 roll -1.25 - - 1835.50 - 3.83 0.116 3474.00 363.5 -77.86 - - 2816.94 - - - - - - - - - 15.96 -
1534.51 202.96 -12.40 244 1541.27 roll -1.25 - - 1835.56 - 3.48 0.062 2084.50 -399.3 -77.86 - - 2818.03 - - - - - - - - - 15.96 -
1840.56 236.52 -11.58 275 1846.32 roll -1.25 - - 1835.75 - 4.10 0.158 663.25 -346.6 -77.86 - - 2819.00 - - - - - - - - - 15.96 -
1915.64 246.42 -13.18 290 1921.18 roll -1.25 - - 1835.94 - 3.55 0.055 2118.38 409.9 -77.86 - - 2815.88 - - - - - - - - - 15.98 -
2220.61 280.20 -10.15 321 2221.94 no move -1.25 - - 1835.81 - - - 2118.31 - -77.86 - - 2817.66 - - - - - - - - - - -
2520.64 310.32 -10.41 351 2521.96 no move -1.25 - - 1835.94 - - - 2118.56 - -77.86 - - 2817.34 - - - - - - - - - - -
2820.67 340.36 -9.53 381 2826.38 roll -1.25 - - 1835.38 - 3.65 0.122 3473.19 371.1 -77.86 - - 2815.62 - - - - - - - - - 16.02 -
2875.69 346.84 -11.63 392 2880.34 roll -1.25 - - 1835.75 - 3.48 0.063 2083.69 -399.3 -77.86 - - 2818.22 - - - - - - - - - 16.03 -
3185.75 378.41 -10.60 424 3191.52 roll -1.25 - - 1835.19 - 4.09 0.161 664.62 -347.0 -77.86 - - 2819.25 - - - - - - - - - 16.00 -
3220.77 382.39 -11.37 431 3225.44 roll -1.25 - - 1835.69 - 3.53 0.058 2117.94 411.7 -77.86 - - 2818.25 - - - - - - - - - 16.02 -
3530.82 413.21 -9.69 463 3532.15 no move -1.25 - - 1835.69 - - - 2118.00 - -77.86 - - 2816.75 - - - - - - - - - - -
3830.88 442.73 -9.21 493 3836.66 roll -1.25 - - 1835.81 - 4.19 0.161 663.69 -347.1 -77.86 - - 2814.62 - - - - - - - - - 16.01 -
3909.75 452.24 -12.09 509 3916.67 roll -1.25 - - 1835.38 - 3.52 0.059 2118.88 413.4 -77.86 - - 2815.41 - - - - - - - - - 16.03 -
4215.98 481.24 -9.14 540 4217.30 no move -1.25 - - 1835.62 - - - 2118.25 - -77.86 - - 2816.12 - - - - - - - - - - -
4516.03 508.32 -9.46 570 4521.82 roll -1.25 - - 1833.62 - 4.18 0.163 663.31 -348.1 -77.86 - - 2815.38 - - - - - - - - - 15.94 -
4615.07 519.29 -12.41 590 4621.83 roll -1.25 - - 1835.69 - 3.55 0.062 2116.31 409.3 -77.86 - - 2814.97 - - - - - - - - - 15.99 -
4921.13 549.12 -9.91 621 4926.85 roll -1.25 - - 1836.19 - 3.68 0.126 3473.25 368.7 -77.86 - - 2816.81 - - - - - - - - - 16.03 -
5006.24 558.48 -11.25 638 5010.82 roll -1.25 - - 1835.38 - 3.44 0.067 2085.94 -403.3 -77.86 - - 2813.25 - - - - - - - - - 16.06 -
5316.21 590.94 -10.52 670 5317.53 no move -1.25 - - 1835.81 - - - 2085.12 - -77.86 - - 2814.41 - - - - - - - - - - -
5616.24 619.86 -8.62 700 5622.02 roll -1.25 - - 1835.19 - 4.12 0.171 663.50 -345.1 -77.86 - - 2815.19 - - - - - - - - - 15.94 -
5675.25 626.73 -11.00 712 5682.02 roll -1.25 - - 1835.38 - 3.55 0.062 2116.75 409.4 -77.86 - - 2813.28 - - - - - - - - - 16.00 -
5981.29 655.13 -8.99 743 5982.62 no move -1.25 - - 1835.12 - - - 2116.88 - -77.86 - - 2812.62 - - - - - - - - - - -
6281.32 682.12 -8.40 773 6287.13 roll -1.25 - - 1835.94 - 4.20 0.171 664.88 -345.7 -77.86 - - 2810.94 - - - - - - - - - 15.93 -
6346.41 688.70 -9.80 786 6352.02 roll -1.25 - - 1833.88 - 3.57 0.067 2115.75 406.4 -77.86 - - 2812.66 - - - - - - - - - 15.99 -
6651.38 715.20 -8.49 817 6652.70 no move -1.25 - - 1835.38 - - - 2116.75 - -77.86 - - 2812.69 - - - - - - - - - - -
6951.43 739.94 -8.53 847 6952.75 no move -1.25 - - 1835.94 - - - 2117.06 - -77.86 - - 2810.31 - - - - - - - - - - -
7251.44 765.21 -8.92 877 7252.77 no move -1.25 - - 1835.12 - - - 2116.94 - -77.86 - - 2811.84 - - - - - - - - - - -
7551.48 790.75 -8.38 907 7557.28 roll -1.25 - - 1835.44 - 4.21 0.175 664.50 -345.0 -77.86 - - 2812.78 - - - - - - - - - 15.93 -
7636.50 799.51 -11.74 924 7642.18 roll -1.25 - - 1835.75 - 3.57 0.069 2115.06 406.3 -77.86 - - 2811.75 - - - - - - - - - 15.99 -
7941.53 825.32 -8.25 955 7942.86 no move -1.25 - - 1835.25 - - - 2115.75 - -77.86 - - 2811.28 - - - - - - - - - - -
8241.57 850.65 -8.34 985 8242.89 no move -1.25 - - 1835.75 - - - 2115.81 - -77.86 - - 2810.72 - - - - - - - - - - -
8541.60 875.35 -8.35 1015 8547.41 roll -1.25 - - 1835.69 - 4.26 0.178 663.56 -340.9 -77.86 - - 2808.38 - - - - - - - - - 15.93 -
8586.62 879.29 -8.87 1024 8592.30 roll -1.25 - - 1835.56 - 3.58 0.071 2116.81 405.9 -77.86 - - 2809.44 - - - - - - - - - 15.99 -
8891.65 903.74 -8.40 1055 8892.98 no move -1.25 - - 1836.12 - - - 2116.81 - -77.86 - - 2810.41 - - - - - - - - - - -
9191.68 927.43 -7.71 1085 9193.00 no move -1.25 - - 1835.94 - - - 2116.25 - -77.86 - - 2810.41 - - - - - - - - - - -
9491.73 950.33 -7.97 1115 9493.06 no move -1.25 - - 1835.44 - - - 2116.62 - -77.86 - - 2809.81 - - - - - - - - - - -
9791.80 972.47 -6.54 1145 9793.13 no move -1.25 - - 1835.62 - - - 2116.81 - -77.86 - - 2809.84 - - - - - - - - - - -
10052 end dive: TARGET_DEPTH_EXCEEDED
10052 begin apogee
10053.17 990.48 -8.08 1171 10123.65 -0.25 1.76 0.154 2078.88 138.2 0.07 0.321 2186.12 990.1 - 65.57 2.297 2498.88 -4.7 0.345 - - - - - - 15.98 15.57 12.78
10126 end apogee: CONTROL_FINISHED_OK
10126 begin climb
10125.35 990.60 - 1178 10209.54 1.25 2.54 0.094 2448.62 145.6 3.80 0.136 3473.25 338.7 77.86 72.65 2.239 2181.84 -4.4 0.326 - - - - - - 15.61 15.23 12.82
10287.33 977.14 11.52 1210 10291.90 roll 1.25 - - 2449.00 - 3.38 0.066 2185.62 -381.0 77.86 - - 2174.97 - - - - - - - - - 15.48 -
10597.36 943.27 9.31 1242 10598.69 VBD 1.25 - - 2449.38 - - - 2186.00 - 77.86 - - 2169.34 - - - - - - - - - - -
10897.40 911.60 11.27 1272 10898.73 VBD 1.25 - - 2448.94 - - - 2185.81 - 77.86 - - 2166.03 - - - - - - - - - - -
11197.43 881.74 8.97 1302 11198.76 VBD 1.25 - - 2448.62 - - - 2185.75 - 77.86 - - 2165.44 - - - - - - - - - - -
11497.47 854.12 9.56 1332 11503.09 done 1.25 - - 2445.88 - 3.64 0.133 3471.38 353.2 77.86 - - 2166.28 - - - - - - - - - 15.90 -
11582.56 846.03 9.40 1349 11587.04 done 1.25 - - 2449.12 - 3.29 0.066 2182.94 -391.6 77.86 - - 2165.84 - - - - - - - - - 15.91 -
11892.53 820.32 7.35 1381 11893.87 VBD 1.27 - - 2448.81 - - - 2182.69 - 77.86 - - 2163.31 - - - - - - - - - - -
12192.56 798.56 7.07 1411 12198.18 done 1.30 - - 2448.19 - 3.61 0.133 3471.19 356.9 77.86 - - 2166.44 - - - - - - - - - 15.95 -
12267.58 791.57 9.38 1426 12272.13 done 1.30 - - 2449.12 - 3.27 0.064 2181.94 -394.3 77.86 - - 2164.22 - - - - - - - - - 15.96 -
12577.62 770.23 7.22 1458 12583.45 done 1.33 - - 2448.94 - 4.12 0.149 735.81 -351.0 77.86 - - 2165.53 - - - - - - - - - 15.89 -
12642.71 765.10 7.08 1471 12648.27 done 1.36 - - 2446.75 - 3.62 0.062 2218.56 409.6 77.86 - - 2162.03 - - - - - - - - - 15.92 -
12947.68 743.16 5.97 1502 12974.23 1.45 0.26 0.088 2500.50 206.7 - - 2218.69 - 107.52 25.12 1.957 2062.44 -4.0 0.254 - - - - - - 15.97 - 12.75
13267.69 710.30 11.09 1534 13273.28 roll 1.45 - - 2500.44 - 3.47 0.133 3471.75 361.1 107.52 - - 2054.22 - - - - - - - - - 15.85 -
13422.75 690.52 13.40 1565 13427.29 roll 1.45 - - 2500.12 - 3.29 0.065 2182.50 -391.9 107.52 - - 2057.28 - - - - - - - - - 15.91 -
13732.82 655.36 11.68 1597 13734.15 no move 1.45 - - 2500.06 - - - 2183.69 - 107.52 - - 2054.44 - - - - - - - - - - -
14032.88 621.92 11.85 1627 14034.21 VBD 1.45 - - 2499.62 - - - 2183.62 - 107.52 - - 2054.00 - - - - - - - - - - -
14332.94 587.33 11.37 1657 14334.27 VBD 1.45 - - 2499.75 - - - 2183.31 - 107.52 - - 2053.72 - - - - - - - - - - -
14633.00 553.89 10.54 1687 14638.61 done 1.45 - - 2497.50 - 3.58 0.130 3473.31 360.3 107.52 - - 2053.81 - - - - - - - - - 15.96 -
14738.04 541.27 12.01 1708 14742.62 done 1.45 - - 2500.19 - 3.28 0.063 2181.56 -393.8 107.52 - - 2054.16 - - - - - - - - - 15.99 -
15048.11 509.94 10.72 1740 15049.45 VBD 1.45 - - 2500.31 - - - 2182.06 - 107.52 - - 2051.03 - - - - - - - - - - -
15348.18 481.05 10.03 1770 15349.52 VBD 1.45 - - 2499.81 - - - 2181.62 - 107.52 - - 2052.22 - - - - - - - - - - -
15648.21 454.12 8.64 1800 15653.83 done 1.45 - - 2500.00 - 3.53 0.128 3472.94 365.8 107.52 - - 2052.59 - - - - - - - - - 16.00 -
15847.12 433.86 10.04 1840 15853.98 done 1.45 - - 2500.12 - 3.26 0.062 2181.19 -396.2 107.52 - - 2051.91 - - - - - - - - - 15.98 -
16153.31 408.55 7.82 1871 16159.14 done 1.45 - - 2500.50 - 4.09 0.141 736.56 -353.2 107.52 - - 2052.41 - - - - - - - - - 15.93 -
16238.32 400.49 9.86 1888 16244.09 done 1.45 - - 2500.50 - 3.66 0.059 2220.00 405.3 107.52 - - 2049.19 - - - - - - - - - 15.91 -
16543.37 375.58 8.25 1919 16544.70 VBD 1.45 - - 2500.69 - - - 2219.69 - 107.52 - - 2051.41 - - - - - - - - - - -
16843.40 350.97 8.49 1949 16849.38 done 1.45 - - 2500.50 - 4.16 0.137 736.25 -356.6 107.52 - - 2049.53 - - - - - - - - - 15.93 -
16932.26 341.62 10.55 1967 16939.17 done 1.45 - - 2500.81 - 3.58 0.059 2222.06 415.0 107.52 - - 2050.47 - - - - - - - - - 15.95 -
17238.46 315.13 8.02 1998 17239.79 VBD 1.45 - - 2501.06 - - - 2222.00 - 107.52 - - 2051.03 - - - - - - - - - - -
17538.49 289.19 8.68 2028 17539.82 VBD 1.45 - - 2500.75 - - - 2222.00 - 107.52 - - 2050.47 - - - - - - - - - - -
17838.52 264.41 7.79 2058 17839.86 VBD 1.45 - - 2501.31 - - - 2222.06 - 107.52 - - 2050.69 - - - - - - - - - - -
18139.55 241.92 7.07 2088 18140.89 VBD 1.48 - - 2501.00 - - - 2222.12 - 107.52 - - 2050.91 - - - - - - - - - - -
18438.61 219.28 7.20 2118 18443.17 done 1.50 - - 2499.31 - 3.41 0.124 3472.75 366.8 107.52 - - 2049.78 - - - - - - - - - 15.99 -
18588.64 207.81 7.12 2148 18593.18 done 1.53 - - 2501.56 - 3.21 0.058 2178.75 -403.1 107.52 - - 2050.62 - - - - - - - - - 16.02 -
18898.68 191.19 4.96 2180 18943.94 1.66 0.25 0.085 2550.94 197.5 4.07 0.137 737.12 -354.2 151.64 37.06 1.357 1880.62 -4.6 0.109 - - - - - - 16.01 15.78 12.64
19012.61 179.97 12.44 2203 19019.61 roll 1.66 - - 2549.25 - 3.63 0.056 2223.12 409.4 151.64 - - 1878.69 - - - - - - - - - 15.77 -
19318.75 145.46 11.86 2234 19323.30 roll 1.66 - - 2551.31 - 3.34 0.119 3473.19 374.3 151.64 - - 1875.81 - - - - - - - - - 15.88 -
19418.85 133.00 12.74 2254 19423.31 roll 1.66 - - 2551.38 - 3.18 0.055 2179.31 -406.9 151.64 - - 1875.25 - - - - - - - - - 15.89 -
19728.86 104.25 6.83 2286 19730.19 no move 1.70 - - 2551.81 - - - 2179.19 - 151.64 - - 1874.75 - - - - - - - - - - -
20029.04 89.09 4.21 2339 20080.73 1.86 0.25 0.089 2598.62 187.2 3.50 0.117 3474.50 370.1 206.46 45.44 1.232 1657.03 -4.8 0.058 - - - - - - 15.93 15.66 12.36
20304.07 65.48 9.73 2394 20309.74 roll 1.86 - - 2598.06 - 3.18 0.056 2179.62 -407.2 206.46 - - 1651.25 - - - - - - - - - 15.80 -
20489.37 54.66 3.76 2431 20546.12 2.05 0.23 0.093 2643.94 199.5 4.11 0.133 736.31 -351.2 267.72 50.67 1.162 1407.97 -4.8 0.038 - - - - - - 15.75 15.38 12.40
20769.20 33.94 10.44 2487 20774.97 roll 2.05 - - 2644.31 - 3.62 0.055 2223.19 410.7 267.72 - - 1403.22 - - - - - - - - - 15.62 -
20954.25 15.46 10.23 2524 20959.96 roll 2.05 - - 2643.94 - 3.35 0.118 3472.31 372.9 267.72 - - 1401.69 - - - - - - - - - 15.73 -
21060 end climb: SURFACE_DEPTH_REACHED
21060 begin surface coast
21075 end surface coast: CONTROL_FINISHED_OK
21075 begin surface
SM 0.41 - - - - 176.5 2.05 0.251 768.3 374.8 15.86 0.065 771.2 48.6 - 3.42 0.056 765.3 222.8 -0.167 - - 12.65 15.71 15.81 -