NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 328 * Raw log
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• Previous call tries 4 • 100.63 of 575.00 AH used of 24V (82.50% remains)
• Surface angle -63.4 deg, depth 0.66 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.75 (SM_CC=425)
• GPS1 time: 25 s
• GPS2 time: 2 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
6.88 - - - 85.46 VBD -1.25 - - 171.69 - - - 2117.62 - -77.86 78.06 0.005 2512.69 - - - - - - - - - - 15.59
85.71 3.90 -7.66 15 116.99 -1.25 13.84 0.259 1835.62 120.2 3.81 0.118 3473.44 355.9 -77.86 7.34 0.008 2817.56 41.5 -3.425 - - - - - - 15.64 15.58 15.64
339.87 61.58 -23.02 66 345.60 roll -1.25 - - 1835.81 - 3.60 0.064 2086.56 -385.2 -77.86 - - 2819.53 - - - - - - - - - 15.81 -
524.92 90.24 -14.39 103 530.72 roll -1.25 - - 1836.12 - 3.82 0.112 3474.12 363.2 -77.86 - - 2817.47 - - - - - - - - - 15.85 -
694.99 115.25 -13.01 137 699.66 roll -1.25 - - 1835.62 - 3.55 0.060 2085.44 -391.2 -77.86 - - 2815.75 - - - - - - - - - 15.89 -
1005.05 147.67 -10.06 169 1010.77 roll -1.25 - - 1835.19 - 3.78 0.113 3473.25 367.1 -77.86 - - 2816.75 - - - - - - - - - 15.93 -
1064.01 154.50 -11.75 181 1070.83 roll -1.25 - - 1836.44 - 3.52 0.059 2082.62 -395.1 -77.86 - - 2819.00 - - - - - - - - - 15.93 -
1370.13 185.29 -10.07 212 1371.46 no move -1.25 - - 1835.88 - - - 2082.81 - -77.86 - - 2818.12 - - - - - - - - - - -
1670.18 215.83 -9.87 242 1671.50 no move -1.25 - - 1835.75 - - - 2082.75 - -77.86 - - 2817.34 - - - - - - - - - - -
1970.21 246.57 -10.46 272 1971.54 no move -1.25 - - 1835.88 - - - 2082.62 - -77.86 - - 2817.69 - - - - - - - - - - -
2270.25 278.35 -10.48 302 2271.57 no move -1.25 - - 1835.56 - - - 2082.44 - -77.86 - - 2817.84 - - - - - - - - - - -
2570.28 311.27 -10.67 332 2571.61 no move -1.25 - - 1835.94 - - - 2082.06 - -77.86 - - 2818.34 - - - - - - - - - - -
2870.32 344.65 -11.42 362 2871.65 no move -1.25 - - 1835.62 - - - 2082.56 - -77.86 - - 2817.09 - - - - - - - - - - -
3170.35 377.68 -11.14 392 3176.14 roll -1.25 - - 1836.00 - 4.18 0.163 663.81 -339.4 -77.86 - - 2815.66 - - - - - - - - - 15.93 -
3215.38 383.11 -13.16 401 3220.97 roll -1.25 - - 1836.19 - 3.52 0.059 2120.00 413.7 -77.86 - - 2816.19 - - - - - - - - - 15.97 -
3520.39 415.60 -10.59 432 3521.72 no move -1.25 - - 1835.44 - - - 2120.38 - -77.86 - - 2817.09 - - - - - - - - - - -
3820.43 446.26 -10.44 462 3826.23 roll -1.25 - - 1835.38 - 4.24 0.162 664.50 -343.4 -77.86 - - 2816.88 - - - - - - - - - 15.95 -
3875.51 452.50 -12.13 473 3881.13 roll -1.25 - - 1836.00 - 3.54 0.059 2118.25 410.7 -77.86 - - 2814.62 - - - - - - - - - 15.98 -
4180.47 482.69 -9.83 504 4181.80 no move -1.25 - - 1834.81 - - - 2118.50 - -77.86 - - 2815.69 - - - - - - - - - - -
4480.50 511.56 -10.11 534 4481.83 no move -1.25 - - 1835.75 - - - 2118.12 - -77.86 - - 2815.91 - - - - - - - - - - -
4780.54 540.23 -10.01 564 4786.36 roll -1.25 - - 1835.69 - 4.22 0.165 663.56 -344.7 -77.86 - - 2813.25 - - - - - - - - - 15.95 -
4829.54 545.61 -11.42 574 4836.31 roll -1.25 - - 1835.62 - 3.57 0.062 2116.94 407.1 -77.86 - - 2814.47 - - - - - - - - - 15.99 -
5135.59 575.07 -9.32 605 5136.92 no move -1.25 - - 1835.31 - - - 2117.19 - -77.86 - - 2815.09 - - - - - - - - - - -
5435.61 603.26 -9.99 635 5441.33 roll -1.25 - - 1835.00 - 3.74 0.127 3472.56 362.4 -77.86 - - 2816.62 - - - - - - - - - 16.05 -
5480.64 607.53 -10.16 644 5485.31 roll -1.25 - - 1836.00 - 3.51 0.067 2085.44 -395.2 -77.86 - - 2814.69 - - - - - - - - - 16.05 -
5790.66 636.59 -8.41 676 5791.99 no move -1.25 - - 1835.88 - - - 2086.12 - -77.86 - - 2813.84 - - - - - - - - - - -
6090.71 662.03 -8.79 706 6092.04 no move -1.25 - - 1835.56 - - - 2085.88 - -77.86 - - 2813.38 - - - - - - - - - - -
6390.77 687.43 -9.13 736 6396.57 roll -1.25 - - 1835.81 - 4.18 0.173 663.38 -340.3 -77.86 - - 2810.78 - - - - - - - - - 15.95 -
6495.82 697.60 -10.56 757 6500.49 roll -1.25 - - 1835.69 - 3.55 0.066 2116.06 409.2 -77.86 - - 2811.81 - - - - - - - - - 16.00 -
6805.88 722.81 -7.02 789 6807.21 no move -1.25 - - 1835.50 - - - 2116.44 - -77.86 - - 2812.44 - - - - - - - - - - -
7105.94 746.74 -7.72 819 7111.66 roll -1.25 - - 1836.19 - 3.75 0.133 3472.44 361.6 -77.86 - - 2810.06 - - - - - - - - - 16.04 -
7170.98 753.10 -10.51 832 7175.64 roll -1.25 - - 1835.81 - 3.51 0.071 2086.19 -394.9 -77.86 - - 2812.53 - - - - - - - - - 16.06 -
7481.03 778.39 -8.05 864 7482.36 no move -1.25 - - 1835.56 - - - 2085.81 - -77.86 - - 2810.78 - - - - - - - - - - -
7781.10 802.40 -9.02 894 7786.88 roll -1.25 - - 1835.38 - 4.16 0.177 664.62 -341.6 -77.86 - - 2813.88 - - - - - - - - - 15.94 -
7846.19 807.81 -8.85 907 7851.81 roll -1.25 - - 1835.94 - 3.60 0.068 2116.12 403.2 -77.86 - - 2810.97 - - - - - - - - - 16.00 -
8151.18 831.65 -6.97 938 8152.51 no move -1.25 - - 1835.56 - - - 2116.69 - -77.86 - - 2809.59 - - - - - - - - - - -
8451.20 855.41 -7.05 968 8457.02 roll -1.25 - - 1835.75 - 4.30 0.175 663.56 -337.9 -77.86 - - 2813.28 - - - - - - - - - 15.94 -
8510.14 860.98 -10.21 980 8517.00 roll -1.25 - - 1835.81 - 3.58 0.070 2116.25 405.8 -77.86 - - 2811.81 - - - - - - - - - 16.00 -
8816.25 883.31 -6.62 1011 8817.58 no move -1.25 - - 1835.56 - - - 2115.81 - -77.86 - - 2810.16 - - - - - - - - - - -
9116.29 903.67 -6.53 1041 9117.61 no move -1.25 - - 1835.56 - - - 2116.56 - -77.86 - - 2810.16 - - - - - - - - - - -
9416.33 926.48 -7.59 1071 9422.04 roll -1.25 - - 1835.25 - 3.72 0.136 3472.19 364.4 -77.86 - - 2807.94 - - - - - - - - - 16.04 -
9521.35 935.39 -8.35 1092 9526.00 roll -1.25 - - 1835.81 - 3.50 0.076 2088.00 -395.5 -77.86 - - 2809.59 - - - - - - - - - 16.05 -
9831.38 958.85 -6.07 1124 9837.18 roll -1.25 - - 1835.19 - 4.19 0.182 664.56 -339.7 -77.86 - - 2807.09 - - - - - - - - - 15.93 -
9900.39 965.45 -9.07 1138 9907.16 roll -1.25 - - 1836.00 - 3.60 0.072 2115.44 403.0 -77.86 - - 2809.12 - - - - - - - - - 15.99 -
10206.44 988.66 -8.01 1169 10207.76 no move -1.25 - - 1835.81 - - - 2115.06 - -77.86 - - 2809.25 - - - - - - - - - - -
10236 end dive: TARGET_DEPTH_EXCEEDED
10236 begin apogee
10237.68 990.37 -6.50 1172 10308.01 -0.25 1.75 0.153 2079.44 139.2 0.07 0.320 2187.44 1034.0 - 64.49 2.331 2498.44 -4.8 0.346 - - - - - - 15.99 15.56 12.66
10309 end apogee: CONTROL_FINISHED_OK
10309 begin climb
10309.72 992.65 - 1179 10384.69 1.25 2.52 0.094 2447.44 146.0 - - 2187.81 - 77.86 71.11 2.277 2181.00 -4.5 0.329 - - - - - - 15.61 - 12.84
10677.50 960.99 10.69 1216 10678.83 VBD 1.25 - - 2447.81 - - - 2187.56 - 77.86 - - 2169.22 - - - - - - - - - - -
10977.52 931.36 9.86 1246 10978.86 VBD 1.25 - - 2447.38 - - - 2187.50 - 77.86 - - 2166.38 - - - - - - - - - - -
11277.56 904.65 8.19 1276 11278.89 VBD 1.25 - - 2447.19 - - - 2187.62 - 77.86 - - 2167.25 - - - - - - - - - - -
11577.59 878.28 8.81 1306 11583.22 done 1.25 - - 2447.56 - 3.62 0.136 3471.25 354.6 77.86 - - 2165.69 - - - - - - - - - 15.87 -
11752.64 860.94 9.81 1341 11757.18 done 1.25 - - 2447.69 - 3.28 0.068 2184.50 -392.3 77.86 - - 2167.47 - - - - - - - - - 15.91 -
12062.67 832.95 9.26 1373 12064.00 VBD 1.25 - - 2447.62 - - - 2184.50 - 77.86 - - 2163.62 - - - - - - - - - - -
12362.72 806.79 8.64 1403 12368.64 done 1.25 - - 2447.12 - 4.18 0.151 736.12 -346.5 77.86 - - 2163.56 - - - - - - - - - 15.87 -
12451.60 796.86 11.25 1421 12458.54 done 1.25 - - 2448.38 - 3.68 0.063 2216.75 402.3 77.86 - - 2164.03 - - - - - - - - - 15.90 -
12757.83 769.54 8.26 1452 12759.17 VBD 1.25 - - 2448.06 - - - 2216.75 - 77.86 - - 2161.28 - - - - - - - - - - -
13057.91 744.33 7.47 1482 13059.24 VBD 1.27 - - 2448.12 - - - 2216.62 - 77.86 - - 2160.56 - - - - - - - - - - -
13357.96 718.81 8.30 1512 13362.53 done 1.27 - - 2447.12 - 3.47 0.134 3472.38 361.9 77.86 - - 2161.59 - - - - - - - - - 15.99 -
13481.91 706.95 11.14 1537 13488.71 done 1.27 - - 2448.56 - 3.28 0.065 2181.38 -393.6 77.86 - - 2163.12 - - - - - - - - - 15.99 -
13788.07 682.53 8.39 1568 13789.41 VBD 1.27 - - 2448.50 - - - 2181.44 - 77.86 - - 2162.16 - - - - - - - - - - -
14088.13 658.51 8.24 1598 14089.46 VBD 1.27 - - 2448.19 - - - 2181.12 - 77.86 - - 2160.09 - - - - - - - - - - -
14388.19 636.64 6.56 1628 14389.52 VBD 1.31 - - 2447.69 - - - 2181.69 - 77.86 - - 2161.97 - - - - - - - - - - -
14688.21 614.54 7.78 1658 14689.54 VBD 1.31 - - 2448.38 - - - 2181.31 - 77.86 - - 2161.59 - - - - - - - - - - -
14988.26 593.29 6.52 1688 14989.59 VBD 1.36 - - 2448.25 - - - 2181.81 - 77.86 - - 2161.22 - - - - - - - - - - -
15288.30 572.26 6.63 1718 15289.76 1.40 0.20 0.112 2490.69 212.2 - - 2181.81 - 77.86 - - 2161.41 - - - - - - - - 16.01 - -
15588.33 549.92 6.87 1748 15589.67 VBD 1.44 - - 2490.25 - - - 2181.50 - 77.86 - - 2159.75 - - - - - - - - - - -
15888.36 528.80 6.45 1778 15893.98 done 1.49 - - 2490.69 - 3.63 0.128 3472.31 355.6 77.86 - - 2159.94 - - - - - - - - - 16.02 -
15997.23 520.45 7.48 1800 16004.08 done 1.50 - - 2490.62 - 3.30 0.062 2180.81 -391.4 77.86 - - 2161.09 - - - - - - - - - 16.04 -
16303.42 501.22 6.05 1831 16304.90 1.56 0.17 0.105 2527.69 218.1 - - 2180.75 - 77.86 - - 2159.06 - - - - - - - - 16.01 - -
16603.46 481.35 6.51 1861 16609.15 done 1.61 - - 2528.06 - 4.11 0.141 735.31 -351.7 77.86 - - 2160.31 - - - - - - - - - 15.95 -
16712.38 471.66 8.60 1883 16719.25 done 1.61 - - 2528.19 - 3.64 0.060 2221.19 408.2 77.86 - - 2159.69 - - - - - - - - - 15.93 -
17018.53 449.77 7.35 1914 17023.22 done 1.63 - - 2527.81 - 3.45 0.125 3473.81 363.1 77.86 - - 2159.69 - - - - - - - - - 16.02 -
17088.53 443.61 8.88 1928 17093.07 done 1.63 - - 2527.69 - 3.25 0.059 2179.88 -398.1 77.86 - - 2159.81 - - - - - - - - - 16.03 -
17398.58 421.14 6.81 1960 17404.16 done 1.67 - - 2527.31 - 3.58 0.123 3472.50 361.1 77.86 - - 2162.12 - - - - - - - - - 16.03 -
17547.42 409.28 7.77 1990 17554.29 done 1.67 - - 2527.19 - 3.26 0.061 2180.50 -396.3 77.86 - - 2162.06 - - - - - - - - - 16.04 -
17853.63 390.18 5.57 2021 17884.32 1.77 0.26 0.093 2578.56 197.6 - - 2181.00 - 113.31 28.93 1.584 2038.78 -4.3 0.178 - - - - - - 15.98 - 12.72
18183.66 360.22 9.39 2054 18184.98 no move 1.77 - - 2579.06 - - - 2180.25 - 113.31 - - 2030.81 - - - - - - - - - - -
18483.70 329.36 10.67 2084 18485.03 no move 1.77 - - 2578.62 - - - 2180.38 - 113.31 - - 2029.22 - - - - - - - - - - -
18783.79 297.42 10.26 2114 18785.12 VBD 1.77 - - 2579.06 - - - 2180.69 - 113.31 - - 2029.84 - - - - - - - - - - -
19083.83 266.69 10.00 2144 19085.16 VBD 1.77 - - 2579.56 - - - 2180.81 - 113.31 - - 2029.75 - - - - - - - - - - -
19383.89 237.04 9.87 2174 19389.49 done 1.77 - - 2578.62 - 3.59 0.122 3473.44 360.1 113.31 - - 2029.97 - - - - - - - - - 15.97 -
19612.83 212.34 9.96 2220 19619.68 done 1.77 - - 2578.75 - 3.29 0.059 2179.56 -393.3 113.31 - - 2029.22 - - - - - - - - - 16.00 -
19919.04 186.34 8.45 2251 19920.37 VBD 1.77 - - 2578.88 - - - 2179.75 - 113.31 - - 2029.50 - - - - - - - - - - -
20219.10 162.68 8.55 2281 20224.71 done 1.77 - - 2579.06 - 3.58 0.118 3472.50 361.1 113.31 - - 2027.34 - - - - - - - - - 15.97 -
20324.13 153.71 9.03 2302 20328.69 done 1.77 - - 2578.62 - 3.28 0.056 2178.56 -394.5 113.31 - - 2029.03 - - - - - - - - - 16.00 -
20634.21 130.64 6.67 2334 20639.87 done 1.81 - - 2578.19 - 4.03 0.134 735.19 -358.2 113.31 - - 2031.00 - - - - - - - - - 15.93 -
20859.33 119.17 3.56 2379 20920.46 2.01 0.29 0.082 2636.62 201.5 3.62 0.055 2225.00 411.5 177.45 52.78 1.287 1776.09 -4.8 0.076 - - - - - - 15.96 15.90 12.65
21219.31 83.15 12.44 2436 21225.05 done 2.01 - - 2636.69 - 3.45 0.120 3473.12 361.8 177.45 - - 1769.75 - - - - - - - - - 15.82 -
21409.37 64.15 7.38 2474 21415.06 done 2.03 - - 2636.44 - 3.27 0.054 2177.31 -396.3 177.45 - - 1766.25 - - - - - - - - - 15.85 -
21594.41 62.23 0.47 2511 21687.23 2.35 0.48 0.073 2718.75 171.5 4.22 0.134 737.38 -341.2 285.65 86.34 1.200 1334.59 -5.0 0.044 - - - - - - 15.89 15.50 12.81
21910.09 23.51 15.12 2574 21915.85 roll 2.35 - - 2718.31 - 3.69 0.055 2221.00 402.1 285.65 - - 1330.06 - - - - - - - - - 15.66 -
22069 end climb: SURFACE_DEPTH_REACHED
22070 begin surface coast
22085 end surface coast: CONTROL_FINISHED_OK
22085 begin surface
SM 0.63 - - - - 177.7 0.25 0.166 768.4 3073.6 16.68 0.074 766.9 46.0 - 0.34 0.090 769.9 2253.6 -1.612 - - 15.42 15.72 15.79 -