NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 333 * Raw log
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• Previous call tries 2 • 102.18 of 575.00 AH used of 24V (82.23% remains)
• Surface angle -60.2 deg, depth 0.31 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.80 (SM_CC=425)
• GPS1 time: 16 s
• GPS2 time: 6 s • Transponder ping count: 1
• 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
6.85 - - - 80.36 VBD -1.25 - - 177.81 - - - 2080.06 - -77.86 72.96 0.005 2420.38 - - - - - - - - - - 15.57
80.62 3.44 -4.27 14 113.58 -1.25 13.77 0.250 1836.19 120.4 4.14 0.160 664.44 -341.9 -77.86 10.32 0.007 2815.34 38.3 -3.177 - - - - - - 15.60 15.55 15.59
246.35 37.06 -23.26 47 252.15 roll -1.25 - - 1836.94 - 3.61 0.057 2118.50 402.8 -77.86 - - 2819.31 - - - - - - - - - 15.70 -
431.40 71.04 -16.24 84 437.18 roll -1.25 - - 1836.75 - 3.67 0.116 3473.88 369.3 -77.86 - - 2816.53 - - - - - - - - - 15.79 -
476.42 77.99 -15.86 93 482.16 roll -1.25 - - 1837.12 - 3.47 0.058 2082.12 -401.1 -77.86 - - 2816.72 - - - - - - - - - 15.83 -
661.45 100.39 -11.38 130 667.20 roll -1.25 - - 1835.00 - 4.07 0.153 664.56 -348.3 -77.86 - - 2817.28 - - - - - - - - - 15.77 -
720.37 108.17 -13.67 142 727.23 roll -1.25 - - 1837.12 - 3.55 0.054 2119.38 409.8 -77.86 - - 2816.72 - - - - - - - - - 15.81 -
1026.50 140.84 -11.48 173 1027.82 no move -1.25 - - 1837.25 - - - 2119.75 - -77.86 - - 2817.62 - - - - - - - - - - -
1326.52 174.70 -11.75 203 1332.22 roll -1.25 - - 1834.69 - 3.64 0.118 3473.12 371.8 -77.86 - - 2817.88 - - - - - - - - - 15.92 -
1391.55 182.33 -11.93 216 1396.20 roll -1.25 - - 1837.25 - 3.43 0.060 2083.25 -405.2 -77.86 - - 2817.59 - - - - - - - - - 15.96 -
1701.58 216.74 -10.53 248 1707.42 roll -1.25 - - 1836.88 - 4.07 0.157 662.81 -349.0 -77.86 - - 2817.47 - - - - - - - - - 15.88 -
1746.73 222.20 -11.78 257 1752.19 roll -1.25 - - 1835.50 - 3.53 0.056 2117.56 412.1 -77.86 - - 2818.28 - - - - - - - - - 15.92 -
2051.62 254.29 -10.09 288 2052.95 no move -1.25 - - 1836.88 - - - 2118.25 - -77.86 - - 2818.00 - - - - - - - - - - -
2351.68 284.17 -10.33 318 2353.01 no move -1.25 - - 1835.12 - - - 2118.12 - -77.86 - - 2818.06 - - - - - - - - - - -
2651.74 313.25 -10.17 348 2653.07 no move -1.25 - - 1836.88 - - - 2118.69 - -77.86 - - 2818.19 - - - - - - - - - - -
2951.80 343.47 -10.44 378 2957.50 roll -1.25 - - 1836.88 - 3.66 0.123 3473.44 370.2 -77.86 - - 2816.59 - - - - - - - - - 16.01 -
3006.84 349.51 -11.78 389 3011.49 roll -1.25 - - 1836.94 - 3.43 0.063 2083.38 -405.3 -77.86 - - 2817.56 - - - - - - - - - 16.02 -
3316.89 380.10 -9.72 421 3318.22 no move -1.25 - - 1837.00 - - - 2083.62 - -77.86 - - 2818.00 - - - - - - - - - - -
3616.94 409.59 -9.33 451 3622.72 roll -1.25 - - 1835.44 - 4.03 0.162 663.62 -352.4 -77.86 - - 2818.56 - - - - - - - - - 15.94 -
3701.98 419.68 -11.78 468 3706.68 roll -1.25 - - 1837.06 - 3.53 0.060 2117.75 411.9 -77.86 - - 2817.91 - - - - - - - - - 15.98 -
4012.05 448.92 -9.87 500 4013.38 no move -1.25 - - 1836.88 - - - 2118.12 - -77.86 - - 2816.44 - - - - - - - - - - -
4312.11 476.50 -9.29 530 4313.43 no move -1.25 - - 1836.88 - - - 2117.94 - -77.86 - - 2816.00 - - - - - - - - - - -
4612.14 505.06 -9.90 560 4613.47 no move -1.25 - - 1836.88 - - - 2118.12 - -77.86 - - 2816.12 - - - - - - - - - - -
4912.26 533.91 -9.70 590 4917.96 roll -1.25 - - 1836.44 - 4.18 0.165 663.38 -348.0 -77.86 - - 2817.03 - - - - - - - - - 15.95 -
4957.21 538.57 -10.86 599 4961.87 roll -1.25 - - 1837.19 - 3.52 0.062 2118.44 413.4 -77.86 - - 2815.16 - - - - - - - - - 16.00 -
5267.23 567.32 -8.88 631 5268.56 no move -1.25 - - 1835.12 - - - 2118.44 - -77.86 - - 2815.44 - - - - - - - - - - -
5567.26 594.12 -8.91 661 5568.59 no move -1.25 - - 1837.06 - - - 2118.38 - -77.86 - - 2814.78 - - - - - - - - - - -
5867.29 619.57 -7.99 691 5873.10 roll -1.25 - - 1836.25 - 4.20 0.168 663.44 -346.4 -77.86 - - 2812.22 - - - - - - - - - 15.95 -
5926.30 625.91 -11.10 703 5933.07 roll -1.25 - - 1836.75 - 3.56 0.064 2116.12 408.1 -77.86 - - 2814.12 - - - - - - - - - 16.00 -
6232.34 655.15 -9.60 734 6233.67 no move -1.25 - - 1837.06 - - - 2116.06 - -77.86 - - 2814.31 - - - - - - - - - - -
6532.38 684.87 -9.46 764 6533.71 no move -1.25 - - 1837.06 - - - 2116.12 - -77.86 - - 2813.56 - - - - - - - - - - -
6832.41 714.68 -9.60 794 6833.74 no move -1.25 - - 1836.81 - - - 2115.88 - -77.86 - - 2813.00 - - - - - - - - - - -
7132.45 743.18 -9.62 824 7138.16 roll -1.25 - - 1836.25 - 3.70 0.133 3472.75 366.7 -77.86 - - 2813.03 - - - - - - - - - 16.04 -
7167.46 746.00 -9.25 831 7172.11 roll -1.25 - - 1836.75 - 3.48 0.070 2085.94 -398.5 -77.86 - - 2813.00 - - - - - - - - - 16.07 -
7477.49 773.66 -8.69 863 7478.82 no move -1.25 - - 1837.12 - - - 2086.56 - -77.86 - - 2812.88 - - - - - - - - - - -
7777.52 798.36 -7.99 893 7778.85 no move -1.25 - - 1836.62 - - - 2086.19 - -77.86 - - 2812.03 - - - - - - - - - - -
8077.56 822.53 -7.70 923 8083.35 roll -1.25 - - 1835.06 - 4.16 0.177 664.38 -341.8 -77.86 - - 2812.56 - - - - - - - - - 15.94 -
8172.58 831.58 -8.73 942 8178.27 roll -1.25 - - 1836.88 - 3.58 0.069 2115.50 405.3 -77.86 - - 2813.38 - - - - - - - - - 15.99 -
8477.62 855.45 -7.62 973 8478.95 no move -1.25 - - 1836.44 - - - 2115.75 - -77.86 - - 2811.50 - - - - - - - - - - -
8777.68 879.16 -8.34 1003 8779.01 no move -1.25 - - 1836.75 - - - 2115.31 - -77.86 - - 2811.34 - - - - - - - - - - -
9077.74 902.35 -7.64 1033 9083.46 roll -1.25 - - 1836.31 - 3.72 0.137 3473.12 365.0 -77.86 - - 2809.00 - - - - - - - - - 16.04 -
9136.78 907.42 -9.02 1045 9143.53 roll -1.25 - - 1835.81 - 3.51 0.074 2088.56 -394.5 -77.86 - - 2812.03 - - - - - - - - - 16.05 -
9442.83 929.28 -7.29 1076 9444.16 no move -1.25 - - 1836.94 - - - 2088.88 - -77.86 - - 2810.97 - - - - - - - - - - -
9742.89 950.12 -6.24 1106 9748.70 roll -1.25 - - 1836.75 - 4.20 0.181 664.69 -339.1 -77.86 - - 2809.72 - - - - - - - - - 15.93 -
9847.93 958.49 -9.77 1127 9853.63 roll -1.25 - - 1834.50 - 3.62 0.073 2115.00 400.6 -77.86 - - 2810.34 - - - - - - - - - 16.00 -
10153.00 979.82 -7.07 1158 10158.79 roll -1.25 - - 1837.25 - 4.23 0.176 664.31 -343.0 -77.86 - - 2809.09 - - - - - - - - - 15.93 -
10191.94 983.79 -9.92 1166 10198.76 roll -1.25 - - 1836.56 - 3.60 0.072 2114.31 402.8 -77.86 - - 2809.72 - - - - - - - - - 15.99 -
10297 end dive: TARGET_DEPTH_EXCEEDED
10297 begin apogee
10299.31 991.05 -7.67 1177 10369.93 -0.25 1.76 0.154 2079.75 138.2 0.08 0.300 2186.75 905.5 - 64.64 2.313 2500.16 -4.8 0.347 - - - - - - 15.98 15.57 12.70
10371 end apogee: CONTROL_FINISHED_OK
10371 begin climb
10371.65 992.38 - 1184 10450.30 1.25 2.54 0.094 2449.00 145.4 - - 2186.31 - 77.86 71.51 2.257 2181.28 -4.5 0.331 - - - - - - 15.62 - 12.81
10748.10 959.45 10.66 1222 10749.44 VBD 1.25 - - 2449.56 - - - 2186.56 - 77.86 - - 2169.19 - - - - - - - - - - -
11048.14 930.33 9.37 1252 11053.92 done 1.25 - - 2447.75 - 4.16 0.155 737.00 -348.5 77.86 - - 2168.44 - - - - - - - - - 15.69 -
11193.19 915.49 10.33 1281 11198.95 done 1.25 - - 2448.38 - 3.67 0.064 2217.44 403.4 77.86 - - 2163.84 - - - - - - - - - 15.75 -
11498.24 890.10 7.02 1312 11499.57 VBD 1.28 - - 2448.38 - - - 2216.81 - 77.86 - - 2165.81 - - - - - - - - - - -
11798.27 867.29 6.96 1342 11802.96 done 1.32 - - 2449.06 - 3.39 0.138 3472.25 370.3 77.86 - - 2164.84 - - - - - - - - - 15.89 -
11918.27 856.77 8.60 1366 11922.83 done 1.32 - - 2446.81 - 3.25 0.066 2183.12 -396.7 77.86 - - 2165.16 - - - - - - - - - 15.91 -
12228.34 833.82 7.49 1398 12229.67 VBD 1.33 - - 2448.50 - - - 2182.88 - 77.86 - - 2163.84 - - - - - - - - - - -
12528.37 812.35 6.82 1428 12534.14 done 1.37 - - 2448.88 - 4.11 0.151 737.06 -351.8 77.86 - - 2162.25 - - - - - - - - - 15.87 -
12657.22 800.91 9.10 1454 12664.15 done 1.37 - - 2448.69 - 3.62 0.064 2217.06 408.8 77.86 - - 2162.06 - - - - - - - - - 15.92 -
12963.42 777.52 8.04 1485 12964.76 VBD 1.37 - - 2449.00 - - - 2217.38 - 77.86 - - 2160.38 - - - - - - - - - - -
13263.45 753.96 8.40 1515 13264.78 VBD 1.37 - - 2449.44 - - - 2217.56 - 77.86 - - 2161.94 - - - - - - - - - - -
13563.49 729.46 8.23 1545 13564.82 VBD 1.37 - - 2448.44 - - - 2217.81 - 77.86 - - 2160.88 - - - - - - - - - - -
13863.53 707.36 7.05 1575 13865.00 1.40 0.19 0.098 2488.62 211.5 - - 2217.69 - 77.86 - - 2162.31 - - - - - - - - 15.99 - -
14163.56 683.47 8.45 1605 14164.89 VBD 1.40 - - 2488.81 - - - 2217.50 - 77.86 - - 2161.62 - - - - - - - - - - -
14463.60 662.50 6.99 1635 14468.18 done 1.43 - - 2489.19 - 3.43 0.135 3473.69 366.2 77.86 - - 2161.12 - - - - - - - - - 16.00 -
14613.63 650.12 8.31 1665 14618.18 done 1.43 - - 2489.00 - 3.25 0.064 2182.62 -397.3 77.86 - - 2161.34 - - - - - - - - - 16.01 -
14923.72 627.03 7.45 1697 14925.05 VBD 1.45 - - 2489.25 - - - 2183.31 - 77.86 - - 2161.16 - - - - - - - - - - -
15223.77 605.08 7.17 1727 15225.11 VBD 1.48 - - 2488.88 - - - 2183.06 - 77.86 - - 2161.19 - - - - - - - - - - -
15523.82 582.17 7.82 1757 15525.16 VBD 1.48 - - 2488.69 - - - 2182.81 - 77.86 - - 2161.03 - - - - - - - - - - -
15823.90 559.19 7.08 1787 15825.23 VBD 1.50 - - 2489.06 - - - 2182.94 - 77.86 - - 2160.78 - - - - - - - - - - -
16123.95 535.78 7.57 1817 16129.56 done 1.50 - - 2488.44 - 3.58 0.130 3471.56 359.9 77.86 - - 2161.09 - - - - - - - - - 16.01 -
16303.16 520.90 8.68 1853 16309.75 done 1.50 - - 2487.56 - 3.26 0.062 2180.12 -396.1 77.86 - - 2161.00 - - - - - - - - - 16.02 -
16609.10 497.97 7.18 1884 16610.43 VBD 1.53 - - 2489.75 - - - 2180.38 - 77.86 - - 2160.75 - - - - - - - - - - -
16909.15 476.88 6.52 1914 16914.81 1.58 0.20 0.098 2532.31 212.8 3.58 0.127 3472.25 360.9 77.86 - - 2158.69 - - - - - - - - 15.94 15.94 -
17124.22 459.53 8.47 1957 17128.75 done 1.58 - - 2532.62 - 3.23 0.060 2181.06 -399.7 77.86 - - 2161.59 - - - - - - - - - 16.03 -
17434.25 439.65 5.56 1989 17469.55 done 1.68 - - 2532.81 - 4.16 0.142 736.25 -347.3 113.35 29.23 1.629 2037.84 -4.2 0.193 - - - - - - - 15.61 12.36
17544.26 429.46 11.81 2011 17549.95 roll 1.68 - - 2532.88 - 3.67 0.058 2219.12 404.1 113.35 - - 2030.75 - - - - - - - - - 15.72 -
17849.31 399.84 9.69 2042 17850.64 VBD 1.68 - - 2533.06 - - - 2220.19 - 113.35 - - 2029.03 - - - - - - - - - - -
18149.34 370.73 9.22 2072 18154.92 done 1.68 - - 2532.75 - 3.46 0.127 3472.00 361.8 113.35 - - 2028.59 - - - - - - - - - 15.92 -
18268.19 358.98 8.60 2096 18275.06 done 1.68 - - 2532.06 - 3.24 0.060 2181.38 -398.3 113.35 - - 2029.47 - - - - - - - - - 15.92 -
18574.39 331.66 9.13 2127 18580.14 done 1.68 - - 2532.81 - 4.07 0.138 737.19 -354.8 113.35 - - 2028.22 - - - - - - - - - 15.88 -
18679.40 320.27 10.85 2148 18685.03 done 1.68 - - 2532.44 - 3.63 0.057 2220.62 408.7 113.35 - - 2028.84 - - - - - - - - - 15.91 -
18984.45 293.23 8.86 2179 18990.22 done 1.68 - - 2532.38 - 4.14 0.134 736.62 -358.5 113.35 - - 2026.66 - - - - - - - - - 15.87 -
19199.50 269.93 10.90 2222 19205.25 done 1.68 - - 2532.94 - 3.64 0.058 2221.88 408.0 113.35 - - 2026.25 - - - - - - - - - 15.88 -
19504.53 245.61 7.71 2253 19509.39 done 1.68 - - 2533.25 - 3.41 0.121 3472.00 366.6 113.35 - - 2027.62 - - - - - - - - - 15.99 -
19604.74 237.05 9.01 2273 19609.08 done 1.68 - - 2531.69 - 3.20 0.057 2178.62 -404.2 113.35 - - 2028.97 - - - - - - - - - 15.99 -
19914.59 213.28 7.44 2305 19915.92 VBD 1.70 - - 2533.12 - - - 2179.38 - 113.35 - - 2028.00 - - - - - - - - - - -
20214.60 189.55 8.25 2335 20220.21 done 1.70 - - 2531.06 - 3.53 0.119 3474.12 366.8 113.35 - - 2027.34 - - - - - - - - - 15.97 -
20303.54 181.65 9.37 2353 20310.43 done 1.70 - - 2532.56 - 3.24 0.057 2178.50 -399.9 113.35 - - 2027.50 - - - - - - - - - 16.00 -
20609.69 157.10 7.67 2384 20615.46 done 1.70 - - 2533.25 - 4.02 0.134 736.31 -358.8 113.35 - - 2026.09 - - - - - - - - - 15.88 -
20698.65 149.86 7.45 2402 20705.51 done 1.72 - - 2533.31 - 3.61 0.055 2223.94 412.1 113.35 - - 2027.88 - - - - - - - - - 15.89 -
21004.81 132.73 5.04 2433 21046.60 1.85 0.34 0.077 2599.00 193.2 3.43 0.121 3471.44 363.7 156.29 36.08 1.279 1860.94 -4.6 0.081 - - - - - - 15.98 15.80 12.76
21094.82 125.07 10.46 2451 21099.50 roll 1.85 - - 2598.62 - 3.21 0.055 2179.75 -402.4 156.29 - - 1859.94 - - - - - - - - - 15.87 -
21399.91 97.25 6.79 2486 21405.73 roll 1.89 - - 2599.00 - 4.06 0.132 735.38 -355.8 156.29 - - 1856.53 - - - - - - - - - 15.83 -
21499.94 90.61 6.54 2506 21505.69 roll 1.93 - - 2598.88 - 3.60 0.055 2224.25 413.6 156.29 - - 1855.56 - - - - - - - - - 15.82 -
21685.02 83.66 3.37 2543 21746.96 2.13 0.38 0.076 2666.00 176.6 3.45 0.119 3473.69 362.2 223.03 54.42 1.220 1589.28 -4.9 0.057 - - - - - - 15.91 15.67 12.71
21970.10 59.36 5.78 2600 22002.56 done 2.23 - - 2666.94 - 3.23 0.053 2177.00 -401.5 255.48 27.49 1.135 1457.34 -4.8 0.042 - - - - - - - 15.78 12.38
22180.38 47.82 7.07 2642 22186.21 roll 2.26 - - 2666.50 - 4.11 0.134 736.19 -350.6 255.48 - - 1453.59 - - - - - - - - - 15.61 -
22410.40 25.78 12.91 2688 22416.17 roll 2.26 - - 2666.06 - 3.65 0.055 2222.69 407.3 255.48 - - 1451.50 - - - - - - - - - 15.67 -
22595.49 4.55 11.26 2725 22601.32 roll 2.26 - - 2666.44 - 4.14 0.124 735.50 -359.2 255.48 - - 1450.53 - - - - - - - - - 15.73 -
22625 end climb: SURFACE_DEPTH_REACHED
22625 begin surface coast
22645 end surface coast: CONTROL_FINISHED_OK
22645 begin surface
SM 0.63 - - - - 178.9 0.61 0.147 768.2 1259.3 16.07 0.065 772.3 48.1 - 3.34 0.053 764.2 227.6 -0.276 - - 15.43 15.84 15.78 -