NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 332 * Raw log
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• Previous call tries 1 • 101.86 of 575.00 AH used of 24V (82.28% remains)
• Surface angle -56.3 deg, depth 0.69 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.78 (SM_CC=425)
• GPS1 time: 23 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
6.82 - - - 80.33 VBD -1.25 - - 175.12 - - - 2119.38 - -77.86 72.88 0.005 2405.12 - - - - - - - - - - 15.56
80.60 3.59 -5.62 14 113.58 -1.25 13.73 0.254 1835.94 121.0 4.34 0.156 663.88 -335.4 -77.86 10.20 0.007 2816.59 40.3 -3.500 - - - - - - 15.59 15.56 15.60
216.35 35.52 -26.39 41 222.12 roll -1.25 - - 1835.81 - 3.63 0.057 2116.50 400.2 -77.86 - - 2816.31 - - - - - - - - - 15.67 -
401.41 69.59 -14.40 78 402.74 no move -1.25 - - 1835.94 - - - 2116.25 - -77.86 - - 2816.47 - - - - - - - - - - -
581.44 95.81 -12.71 114 582.77 no move -1.25 - - 1836.12 - - - 2116.12 - -77.86 - - 2816.91 - - - - - - - - - - -
766.48 117.10 -11.25 136 772.19 roll -1.25 - - 1834.69 - 3.71 0.118 3473.19 365.8 -77.86 - - 2815.41 - - - - - - - - - 15.84 -
825.41 125.12 -14.05 148 832.25 roll -1.25 - - 1835.75 - 3.51 0.059 2083.56 -395.9 -77.86 - - 2816.97 - - - - - - - - - 15.89 -
1131.52 158.88 -11.30 179 1137.28 roll -1.25 - - 1835.44 - 4.09 0.156 663.75 -347.1 -77.86 - - 2816.41 - - - - - - - - - 15.84 -
1226.54 171.88 -15.05 198 1232.14 roll -1.25 - - 1833.69 - 3.56 0.057 2119.50 408.9 -77.86 - - 2816.94 - - - - - - - - - 15.88 -
1531.58 206.01 -10.59 229 1532.90 no move -1.25 - - 1835.44 - - - 2119.69 - -77.86 - - 2817.94 - - - - - - - - - - -
1831.61 238.39 -10.75 259 1832.94 no move -1.25 - - 1835.88 - - - 2119.81 - -77.86 - - 2817.72 - - - - - - - - - - -
2131.67 268.68 -9.63 289 2133.00 no move -1.25 - - 1835.62 - - - 2119.75 - -77.86 - - 2817.81 - - - - - - - - - - -
2431.76 300.86 -10.61 319 2433.08 no move -1.25 - - 1835.94 - - - 2119.94 - -77.86 - - 2817.59 - - - - - - - - - - -
2731.79 332.85 -11.21 349 2733.12 no move -1.25 - - 1835.81 - - - 2120.25 - -77.86 - - 2818.09 - - - - - - - - - - -
3031.85 361.45 -8.95 379 3037.65 roll -1.25 - - 1836.06 - 4.24 0.159 663.75 -343.5 -77.86 - - 2819.84 - - - - - - - - - 15.94 -
3070.72 366.00 -11.20 387 3077.63 roll -1.25 - - 1836.06 - 3.56 0.058 2117.25 408.3 -77.86 - - 2817.19 - - - - - - - - - 15.97 -
3376.93 394.29 -8.95 418 3378.26 no move -1.25 - - 1835.81 - - - 2117.94 - -77.86 - - 2817.69 - - - - - - - - - - -
3676.99 422.69 -9.45 448 3678.32 no move -1.25 - - 1835.94 - - - 2118.38 - -77.86 - - 2815.00 - - - - - - - - - - -
3977.05 451.63 -10.34 478 3982.85 roll -1.25 - - 1835.75 - 4.20 0.161 664.31 -346.2 -77.86 - - 2814.72 - - - - - - - - - 15.95 -
4065.92 462.07 -12.41 496 4072.84 roll -1.25 - - 1835.69 - 3.57 0.061 2118.94 407.5 -77.86 - - 2816.25 - - - - - - - - - 15.99 -
4372.12 491.29 -9.55 527 4377.92 roll -1.25 - - 1834.00 - 4.24 0.161 663.62 -343.2 -77.86 - - 2815.03 - - - - - - - - - 15.95 -
4437.21 498.39 -11.28 540 4442.84 roll -1.25 - - 1835.25 - 3.56 0.062 2118.62 408.7 -77.86 - - 2814.84 - - - - - - - - - 15.98 -
4742.17 527.88 -9.22 571 4747.95 roll -1.25 - - 1835.75 - 4.19 0.163 663.50 -347.3 -77.86 - - 2816.16 - - - - - - - - - 15.95 -
4791.11 533.35 -10.73 581 4797.95 roll -1.25 - - 1835.69 - 3.53 0.060 2118.12 412.1 -77.86 - - 2816.88 - - - - - - - - - 15.99 -
5097.21 562.50 -9.61 612 5098.54 no move -1.25 - - 1835.62 - - - 2117.75 - -77.86 - - 2815.66 - - - - - - - - - - -
5397.24 590.60 -9.05 642 5403.02 roll -1.25 - - 1834.88 - 4.18 0.166 663.81 -347.8 -77.86 - - 2814.28 - - - - - - - - - 15.95 -
5466.25 598.49 -11.79 656 5473.02 roll -1.25 - - 1835.62 - 3.54 0.064 2118.25 410.9 -77.86 - - 2815.09 - - - - - - - - - 16.00 -
5772.30 626.82 -9.49 687 5773.62 no move -1.25 - - 1835.69 - - - 2118.94 - -77.86 - - 2813.66 - - - - - - - - - - -
6072.33 653.38 -8.42 717 6073.66 no move -1.25 - - 1835.81 - - - 2118.31 - -77.86 - - 2812.53 - - - - - - - - - - -
6372.51 679.45 -8.96 747 6378.18 roll -1.25 - - 1835.75 - 4.20 0.170 663.56 -346.4 -77.86 - - 2812.12 - - - - - - - - - 15.95 -
6437.54 686.34 -11.18 760 6443.06 roll -1.25 - - 1835.62 - 3.56 0.066 2116.94 408.3 -77.86 - - 2812.78 - - - - - - - - - 16.00 -
6742.42 712.42 -8.58 791 6743.75 no move -1.25 - - 1835.75 - - - 2116.44 - -77.86 - - 2812.66 - - - - - - - - - - -
7042.45 737.45 -8.72 821 7043.77 no move -1.25 - - 1835.56 - - - 2116.81 - -77.86 - - 2813.28 - - - - - - - - - - -
7342.48 764.04 -8.49 851 7348.28 roll -1.25 - - 1835.88 - 4.22 0.174 664.56 -344.1 -77.86 - - 2814.19 - - - - - - - - - 15.94 -
7387.50 768.84 -11.27 860 7393.18 roll -1.25 - - 1835.75 - 3.55 0.067 2115.31 408.7 -77.86 - - 2812.06 - - - - - - - - - 16.00 -
7692.52 795.91 -8.68 891 7698.22 roll -1.25 - - 1834.38 - 3.67 0.134 3471.75 369.6 -77.86 - - 2811.50 - - - - - - - - - 16.04 -
7737.55 800.27 -10.92 900 7742.19 roll -1.25 - - 1835.88 - 3.46 0.071 2085.00 -400.8 -77.86 - - 2812.09 - - - - - - - - - 16.05 -
8047.57 825.59 -8.29 932 8048.90 no move -1.25 - - 1835.25 - - - 2085.19 - -77.86 - - 2812.00 - - - - - - - - - - -
8347.60 849.50 -8.68 962 8348.93 no move -1.25 - - 1835.94 - - - 2085.50 - -77.86 - - 2811.72 - - - - - - - - - - -
8647.67 873.59 -8.37 992 8649.00 no move -1.25 - - 1835.94 - - - 2084.62 - -77.86 - - 2811.41 - - - - - - - - - - -
8947.73 899.19 -8.92 1022 8949.06 no move -1.25 - - 1835.62 - - - 2084.62 - -77.86 - - 2811.69 - - - - - - - - - - -
9247.80 926.69 -8.55 1052 9249.12 no move -1.25 - - 1836.00 - - - 2084.62 - -77.86 - - 2809.81 - - - - - - - - - - -
9547.87 950.89 -8.19 1082 9549.19 no move -1.25 - - 1835.56 - - - 2084.62 - -77.86 - - 2810.78 - - - - - - - - - - -
9847.92 974.88 -7.93 1112 9853.65 roll -1.25 - - 1835.38 - 3.83 0.136 3472.50 362.4 -77.86 - - 2808.25 - - - - - - - - - 16.02 -
9926.94 982.46 -9.34 1128 9933.69 roll -1.25 - - 1835.38 - 3.50 0.077 2087.31 -395.8 -77.86 - - 2811.41 - - - - - - - - - 16.05 -
10032 end dive: TARGET_DEPTH_EXCEEDED
10032 begin apogee
10034.24 990.36 -7.43 1139 10104.77 -0.25 1.75 0.152 2080.00 139.8 0.08 0.302 2187.31 1250.0 - 65.22 2.316 2500.53 -4.8 0.345 - - - - - - 16.00 15.55 12.63
10106 end apogee: CONTROL_FINISHED_OK
10106 begin climb
10106.50 993.13 - 1146 10185.15 1.25 2.55 0.096 2448.06 144.3 - - 2187.38 - 77.86 72.66 2.245 2180.88 -4.4 0.329 - - - - - - 15.62 - 12.84
10483.33 961.46 9.93 1184 10488.66 done 1.25 - - 2445.69 - 3.66 0.135 3470.94 350.7 77.86 - - 2170.59 - - - - - - - - - 15.65 -
10592.00 949.46 11.91 1206 10598.81 done 1.25 - - 2447.75 - 3.33 0.067 2182.94 -386.8 77.86 - - 2168.62 - - - - - - - - - 15.72 -
10898.12 919.57 11.29 1237 10899.45 VBD 1.25 - - 2447.81 - - - 2183.12 - 77.86 - - 2167.69 - - - - - - - - - - -
11198.23 891.34 9.93 1267 11199.56 VBD 1.25 - - 2447.94 - - - 2183.19 - 77.86 - - 2166.84 - - - - - - - - - - -
11498.19 863.70 9.33 1297 11503.82 done 1.25 - - 2448.06 - 3.62 0.135 3472.00 356.0 77.86 - - 2165.88 - - - - - - - - - 15.89 -
11633.22 848.93 10.76 1324 11637.78 done 1.25 - - 2448.00 - 3.28 0.068 2183.25 -392.9 77.86 - - 2167.62 - - - - - - - - - 15.91 -
11943.26 820.95 8.82 1356 11944.59 VBD 1.25 - - 2448.31 - - - 2183.69 - 77.86 - - 2164.34 - - - - - - - - - - -
12243.31 795.52 7.34 1386 12244.64 VBD 1.27 - - 2448.19 - - - 2183.19 - 77.86 - - 2164.28 - - - - - - - - - - -
12543.34 773.11 6.95 1416 12549.07 done 1.31 - - 2447.81 - 3.60 0.134 3471.12 357.8 77.86 - - 2165.22 - - - - - - - - - 15.96 -
12618.36 766.34 8.70 1431 12622.90 done 1.31 - - 2448.12 - 3.26 0.066 2182.62 -395.2 77.86 - - 2165.84 - - - - - - - - - 15.97 -
12928.38 741.28 8.67 1463 12933.98 done 1.31 - - 2445.81 - 3.60 0.133 3470.50 357.7 77.86 - - 2163.69 - - - - - - - - - 15.98 -
13037.23 731.88 8.31 1485 13044.11 done 1.31 - - 2447.94 - 3.27 0.065 2182.56 -393.9 77.86 - - 2162.94 - - - - - - - - - 16.00 -
13343.43 707.02 7.55 1516 13349.12 done 1.31 - - 2446.69 - 3.59 0.133 3470.19 358.7 77.86 - - 2162.00 - - - - - - - - - 15.98 -
13448.46 697.51 8.20 1537 13453.01 done 1.31 - - 2448.00 - 3.27 0.064 2181.31 -394.2 77.86 - - 2162.62 - - - - - - - - - 16.00 -
13758.49 672.67 8.56 1569 13759.82 VBD 1.31 - - 2448.38 - - - 2181.94 - 77.86 - - 2162.34 - - - - - - - - - - -
14058.54 649.93 7.36 1599 14064.42 done 1.33 - - 2448.94 - 4.03 0.147 737.25 -358.5 77.86 - - 2160.78 - - - - - - - - - 15.93 -
14173.55 639.02 9.25 1622 14179.17 done 1.33 - - 2447.81 - 3.64 0.062 2219.31 407.2 77.86 - - 2160.69 - - - - - - - - - 15.96 -
14478.61 615.69 7.10 1653 14479.94 VBD 1.36 - - 2447.75 - - - 2219.25 - 77.86 - - 2160.72 - - - - - - - - - - -
14778.66 594.02 7.18 1683 14780.13 1.38 0.16 0.105 2485.44 235.6 - - 2219.31 - 77.86 - - 2160.88 - - - - - - - - 16.00 - -
15078.73 572.29 7.45 1713 15084.48 done 1.40 - - 2482.62 - 4.17 0.141 737.06 -355.5 77.86 - - 2159.91 - - - - - - - - - 15.94 -
15217.62 559.51 8.34 1741 15224.54 done 1.40 - - 2485.44 - 3.61 0.061 2219.31 410.6 77.86 - - 2160.84 - - - - - - - - - 15.97 -
15523.84 535.23 8.52 1772 15528.54 done 1.40 - - 2483.56 - 3.42 0.129 3473.25 366.6 77.86 - - 2160.00 - - - - - - - - - 16.01 -
15637.71 525.79 8.05 1795 15644.61 done 1.40 - - 2485.06 - 3.22 0.061 2179.69 -401.7 77.86 - - 2162.03 - - - - - - - - - 15.97 -
15943.95 502.58 6.88 1826 15945.28 VBD 1.44 - - 2485.19 - - - 2179.75 - 77.86 - - 2160.38 - - - - - - - - - - -
16244.01 480.20 7.46 1856 16249.76 done 1.45 - - 2485.56 - 4.05 0.141 735.06 -356.7 77.86 - - 2158.28 - - - - - - - - - 15.95 -
16459.11 461.38 8.20 1899 16464.71 done 1.45 - - 2485.44 - 3.62 0.058 2221.81 410.7 77.86 - - 2158.53 - - - - - - - - - 15.96 -
16764.15 441.06 6.30 1930 16769.91 done 1.51 - - 2485.44 - 4.13 0.136 737.06 -359.5 77.86 - - 2161.62 - - - - - - - - - 15.94 -
16929.21 428.84 7.33 1963 16934.86 1.53 0.15 0.107 2519.75 228.7 3.61 0.058 2221.38 411.2 77.86 - - 2157.44 - - - - - - - - 15.99 15.95 -
17234.24 409.65 6.87 1994 17235.57 VBD 1.56 - - 2519.81 - - - 2221.31 - 77.86 - - 2159.81 - - - - - - - - - - -
17534.26 391.89 4.94 2024 17577.15 1.70 0.19 0.099 2560.50 214.2 4.18 0.137 736.12 -355.3 122.21 36.47 1.600 2000.47 -4.4 0.181 - - - - - - 16.01 15.75 12.79
17624.94 384.11 10.43 2042 17630.69 roll 1.70 - - 2559.69 - 3.65 0.057 2220.50 406.7 122.21 - - 1995.62 - - - - - - - - - 15.80 -
17930.00 350.36 11.34 2073 17931.34 VBD 1.70 - - 2560.31 - - - 2220.88 - 122.21 - - 1994.50 - - - - - - - - - - -
18230.04 318.24 10.12 2103 18234.63 done 1.70 - - 2560.38 - 3.41 0.126 3471.75 366.8 122.21 - - 1993.53 - - - - - - - - - 15.91 -
18374.01 300.91 11.43 2132 18380.82 done 1.70 - - 2560.25 - 3.22 0.060 2180.81 -400.9 122.21 - - 1992.69 - - - - - - - - - 15.93 -
18680.13 268.52 10.52 2163 18685.74 done 1.70 - - 2561.00 - 3.56 0.120 3472.19 362.7 122.21 - - 1992.69 - - - - - - - - - 15.93 -
18779.07 256.42 12.04 2183 18785.94 done 1.70 - - 2560.75 - 3.19 0.058 2180.94 -404.8 122.21 - - 1993.41 - - - - - - - - - 15.95 -
19085.20 223.64 11.23 2214 19090.95 done 1.70 - - 2561.62 - 3.54 0.119 3472.38 364.8 122.21 - - 1992.56 - - - - - - - - - 15.96 -
19184.12 211.35 12.56 2234 19190.94 done 1.70 - - 2560.62 - 3.23 0.059 2179.81 -400.2 122.21 - - 1991.81 - - - - - - - - - 15.97 -
19490.26 181.10 9.02 2265 19495.96 done 1.70 - - 2561.38 - 4.02 0.136 736.19 -359.1 122.21 - - 1993.44 - - - - - - - - - 15.88 -
19645.30 165.73 9.74 2296 19650.90 done 1.70 - - 2561.12 - 3.59 0.057 2223.31 414.2 122.21 - - 1991.59 - - - - - - - - - 15.87 -
19950.33 140.63 7.77 2327 19954.89 done 1.70 - - 2560.81 - 3.38 0.121 3472.62 369.6 122.21 - - 1992.12 - - - - - - - - - 15.97 -
20180.38 122.56 7.71 2373 20184.91 done 1.70 - - 2559.44 - 3.19 0.056 2177.25 -406.1 122.21 - - 1992.16 - - - - - - - - - 15.96 -
20490.47 104.39 5.30 2405 20525.08 VBD 1.81 - - 2561.06 - - - 2177.62 - 161.50 32.84 1.243 1840.59 -4.6 0.066 - - - - - - - - 12.70
20825.47 81.92 6.82 2464 20826.94 pitch 1.85 0.17 0.105 2597.00 211.4 - - 2177.69 - 161.50 - - 1833.75 - - - - - - - - 15.85 - -
21005.51 72.77 3.50 2500 21067.03 2.05 0.25 0.089 2644.00 188.0 4.05 0.135 735.44 -356.1 226.49 53.08 1.204 1575.75 -4.9 0.050 - - - - - - 15.87 15.64 12.71
21290.55 43.66 8.60 2557 21296.32 roll 2.05 - - 2644.06 - 3.64 0.056 2224.00 408.9 226.49 - - 1571.91 - - - - - - - - - 15.71 -
21475.62 34.01 4.72 2594 21522.55 2.19 0.16 0.093 2680.38 227.0 4.18 0.129 736.25 -355.9 274.02 39.85 1.126 1382.69 -4.7 0.024 - - - - - - 15.80 15.62 12.73
21725 end climb: SURFACE_DEPTH_REACHED
21725 begin surface coast
21735 end surface coast: CONTROL_FINISHED_OK
21735 begin surface
SM 0.64 - - - - 178.8 0.51 0.148 768.3 1428.3 16.88 0.109 768.1 45.5 - 3.37 0.054 768.6 226.8 -0.275 - - 15.41 15.72 15.71 -