NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 337 * Raw log
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• Previous call tries 1 • 103.42 of 575.00 AH used of 24V (82.01% remains)
• Surface angle -60.7 deg, depth 0.60 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 425.04 (SM_CC=425)
• GPS1 time: 32 s
• GPS2 time: 2 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
6 end surface: CONTROL_FINISHED_OK
6 begin dive
6.90 - - - 85.54 VBD -1.25 - - 171.44 - - - 2121.19 - -77.86 78.04 0.005 2499.25 - - - - - - - - - - 15.57
85.81 3.37 -3.68 15 117.56 -1.25 13.94 0.263 1835.50 119.4 3.79 0.119 3472.62 356.6 -77.86 7.95 0.008 2815.59 39.8 -2.778 - - - - - - 15.62 15.55 15.60
340.37 60.15 -19.10 66 346.16 roll -1.25 - - 1835.75 - 3.61 0.063 2084.56 -384.5 -77.86 - - 2817.31 - - - - - - - - - 15.78 -
525.41 88.76 -15.03 103 531.21 roll -1.25 - - 1836.19 - 3.84 0.114 3472.12 361.3 -77.86 - - 2816.59 - - - - - - - - - 15.83 -
615.42 100.31 -11.17 121 620.09 roll -1.25 - - 1835.75 - 3.54 0.059 2083.00 -392.4 -77.86 - - 2817.81 - - - - - - - - - 15.85 -
925.46 134.20 -11.40 153 926.79 no move -1.25 - - 1835.88 - - - 2082.94 - -77.86 - - 2817.31 - - - - - - - - - - -
1225.49 166.39 -10.81 183 1226.81 no move -1.25 - - 1835.62 - - - 2083.00 - -77.86 - - 2817.81 - - - - - - - - - - -
1525.52 199.07 -11.00 213 1531.26 roll -1.25 - - 1835.56 - 3.82 0.117 3473.62 364.0 -77.86 - - 2815.72 - - - - - - - - - 15.96 -
1604.53 208.54 -12.63 229 1611.30 roll -1.25 - - 1836.00 - 3.53 0.061 2085.81 -393.1 -77.86 - - 2819.12 - - - - - - - - - 15.98 -
1910.57 240.04 -10.24 260 1911.90 no move -1.25 - - 1835.94 - - - 2086.31 - -77.86 - - 2816.62 - - - - - - - - - - -
2210.60 269.30 -9.67 290 2216.39 roll -1.25 - - 1836.56 - 4.16 0.160 664.38 -341.8 -77.86 - - 2816.72 - - - - - - - - - 15.91 -
2249.49 273.69 -11.24 298 2256.37 roll -1.25 - - 1834.94 - 3.54 0.055 2120.19 411.2 -77.86 - - 2818.88 - - - - - - - - - 15.95 -
2555.65 303.75 -9.65 329 2556.97 no move -1.25 - - 1835.94 - - - 2120.56 - -77.86 - - 2817.84 - - - - - - - - - - -
2855.69 334.84 -10.35 359 2857.01 no move -1.25 - - 1835.06 - - - 2119.94 - -77.86 - - 2817.84 - - - - - - - - - - -
3155.75 366.46 -10.27 389 3157.08 no move -1.25 - - 1835.25 - - - 2120.06 - -77.86 - - 2817.53 - - - - - - - - - - -
3455.82 396.10 -9.24 419 3461.62 roll -1.25 - - 1835.69 - 4.26 0.159 664.69 -341.6 -77.86 - - 2817.66 - - - - - - - - - 15.94 -
3520.91 403.66 -12.23 432 3526.53 roll -1.25 - - 1835.44 - 3.55 0.057 2118.75 409.6 -77.86 - - 2815.56 - - - - - - - - - 15.99 -
3825.91 433.42 -10.00 463 3831.60 roll -1.25 - - 1836.19 - 3.68 0.124 3471.62 367.6 -77.86 - - 2814.91 - - - - - - - - - 16.03 -
3860.93 436.89 -9.90 470 3865.58 roll -1.25 - - 1836.00 - 3.48 0.064 2085.12 -398.4 -77.86 - - 2816.34 - - - - - - - - - 16.04 -
4170.98 466.19 -9.88 502 4172.31 no move -1.25 - - 1835.69 - - - 2085.38 - -77.86 - - 2815.16 - - - - - - - - - - -
4471.03 494.41 -10.13 532 4472.36 no move -1.25 - - 1835.31 - - - 2085.62 - -77.86 - - 2815.97 - - - - - - - - - - -
4771.10 524.29 -10.08 562 4772.43 no move -1.25 - - 1835.69 - - - 2085.00 - -77.86 - - 2815.59 - - - - - - - - - - -
5071.16 551.53 -9.25 592 5076.95 roll -1.25 - - 1835.62 - 4.16 0.169 663.44 -341.7 -77.86 - - 2814.62 - - - - - - - - - 15.95 -
5116.19 556.35 -10.98 601 5121.85 roll -1.25 - - 1835.25 - 3.55 0.060 2117.31 409.5 -77.86 - - 2813.16 - - - - - - - - - 16.00 -
5421.21 583.58 -8.16 632 5422.54 no move -1.25 - - 1835.62 - - - 2117.12 - -77.86 - - 2815.06 - - - - - - - - - - -
5721.24 609.49 -8.84 662 5727.04 roll -1.25 - - 1835.81 - 4.25 0.166 664.75 -341.7 -77.86 - - 2813.50 - - - - - - - - - 15.95 -
5770.24 614.92 -11.83 672 5777.01 roll -1.25 - - 1835.62 - 3.54 0.062 2117.00 410.2 -77.86 - - 2815.44 - - - - - - - - - 16.00 -
6076.29 639.85 -8.44 703 6077.61 no move -1.25 - - 1835.75 - - - 2117.31 - -77.86 - - 2814.09 - - - - - - - - - - -
6376.32 664.73 -8.58 733 6377.65 no move -1.25 - - 1836.00 - - - 2117.19 - -77.86 - - 2813.62 - - - - - - - - - - -
6676.35 689.52 -8.61 763 6682.15 roll -1.25 - - 1835.50 - 4.27 0.172 663.56 -340.4 -77.86 - - 2814.00 - - - - - - - - - 15.95 -
6811.38 703.05 -9.40 790 6817.06 roll -1.25 - - 1834.19 - 3.58 0.066 2114.50 405.3 -77.86 - - 2812.94 - - - - - - - - - 15.99 -
7116.41 728.34 -7.86 821 7117.74 no move -1.25 - - 1835.31 - - - 2115.06 - -77.86 - - 2812.94 - - - - - - - - - - -
7416.44 752.19 -7.48 851 7417.77 no move -1.25 - - 1835.38 - - - 2115.06 - -77.86 - - 2811.38 - - - - - - - - - - -
7716.48 775.30 -6.89 881 7722.28 roll -1.25 - - 1835.31 - 4.25 0.173 664.44 -341.3 -77.86 - - 2812.56 - - - - - - - - - 15.94 -
7811.50 784.74 -9.96 900 7817.20 roll -1.25 - - 1835.44 - 3.61 0.068 2115.75 402.0 -77.86 - - 2810.91 - - - - - - - - - 16.00 -
8116.54 807.25 -6.96 931 8122.49 roll -1.25 - - 1835.62 - 3.72 0.133 3473.50 365.0 -77.86 - - 2812.44 - - - - - - - - - 16.04 -
8151.55 810.64 -9.29 938 8156.35 roll -1.25 - - 1836.19 - 3.51 0.070 2086.38 -395.2 -77.86 - - 2811.97 - - - - - - - - - 16.05 -
8461.57 833.53 -7.90 970 8462.90 no move -1.25 - - 1835.69 - - - 2086.19 - -77.86 - - 2809.81 - - - - - - - - - - -
8761.61 855.41 -7.31 1000 8762.94 no move -1.25 - - 1835.88 - - - 2086.31 - -77.86 - - 2811.16 - - - - - - - - - - -
9061.65 878.23 -7.19 1030 9062.97 no move -1.25 - - 1835.50 - - - 2086.19 - -77.86 - - 2811.44 - - - - - - - - - - -
9361.69 901.62 -7.65 1060 9367.43 roll -1.25 - - 1835.69 - 3.84 0.134 3472.75 361.1 -77.86 - - 2808.50 - - - - - - - - - 16.05 -
9460.65 910.85 -7.78 1080 9467.49 roll -1.25 - - 1835.75 - 3.54 0.074 2088.88 -390.9 -77.86 - - 2811.69 - - - - - - - - - 16.06 -
9766.80 936.02 -9.78 1111 9768.13 no move -1.25 - - 1835.81 - - - 2089.06 - -77.86 - - 2810.56 - - - - - - - - - - -
10066.86 960.62 -9.68 1141 10068.18 no move -1.25 - - 1835.69 - - - 2088.94 - -77.86 - - 2810.31 - - - - - - - - - - -
10366.92 985.54 -7.82 1171 10372.65 roll -1.25 - - 1835.19 - 3.86 0.136 3472.50 358.4 -77.86 - - 2809.28 - - - - - - - - - 16.04 -
10422 end dive: TARGET_DEPTH_EXCEEDED
10422 begin apogee
10426.85 990.38 -8.72 1182 10496.16 -0.25 1.77 0.158 2077.62 137.0 0.05 0.364 2210.88 -25232.4 - 66.62 2.311 2499.03 -4.7 0.331 - - - - - - 15.98 15.12 12.43
10498 end apogee: CONTROL_FINISHED_OK
10498 begin climb
10497.89 993.15 - 1189 10574.06 1.25 2.48 0.094 2449.25 149.9 - - 2211.50 - 77.86 71.64 2.263 2182.44 -4.4 0.321 - - - - - - 15.27 - 12.66
10872.02 964.08 9.25 1227 10873.35 VBD 1.25 - - 2448.88 - - - 2211.69 - 77.86 - - 2169.81 - - - - - - - - - - -
11172.06 938.33 8.34 1257 11173.39 VBD 1.25 - - 2448.94 - - - 2211.50 - 77.86 - - 2167.94 - - - - - - - - - - -
11472.12 911.70 9.17 1287 11477.73 done 1.25 - - 2448.88 - 3.57 0.136 3472.19 353.1 77.86 - - 2164.50 - - - - - - - - - 15.80 -
11561.14 902.87 10.65 1305 11567.88 done 1.25 - - 2448.88 - 3.35 0.067 2182.94 -384.9 77.86 - - 2167.81 - - - - - - - - - 15.86 -
11867.20 873.57 8.90 1336 11872.82 done 1.25 - - 2448.62 - 3.62 0.134 3472.44 356.2 77.86 - - 2164.41 - - - - - - - - - 15.89 -
12022.26 856.64 11.35 1367 12026.83 done 1.25 - - 2448.81 - 3.30 0.066 2184.31 -390.3 77.86 - - 2164.94 - - - - - - - - - 15.91 -
12332.28 825.60 10.92 1399 12333.62 VBD 1.25 - - 2448.62 - - - 2184.69 - 77.86 - - 2164.41 - - - - - - - - - - -
12632.32 796.45 9.53 1429 12633.65 VBD 1.25 - - 2449.00 - - - 2184.62 - 77.86 - - 2162.12 - - - - - - - - - - -
12932.35 768.28 8.66 1459 12937.96 done 1.25 - - 2448.31 - 3.60 0.135 3471.38 357.4 77.86 - - 2163.38 - - - - - - - - - 15.96 -
13031.21 758.24 9.65 1479 13038.08 done 1.25 - - 2448.38 - 3.28 0.065 2183.25 -392.7 77.86 - - 2164.44 - - - - - - - - - 15.97 -
13337.41 730.52 8.49 1510 13338.74 VBD 1.25 - - 2448.94 - - - 2182.94 - 77.86 - - 2162.78 - - - - - - - - - - -
13637.45 707.45 7.39 1540 13643.29 done 1.27 - - 2448.56 - 4.13 0.150 738.00 -349.9 77.86 - - 2161.06 - - - - - - - - - 15.91 -
13866.40 686.57 9.54 1586 13873.26 done 1.27 - - 2449.12 - 3.61 0.061 2219.62 410.4 77.86 - - 2160.50 - - - - - - - - - 15.95 -
14172.56 662.44 8.21 1617 14173.89 VBD 1.27 - - 2448.69 - - - 2219.69 - 77.86 - - 2160.56 - - - - - - - - - - -
14472.57 639.47 7.45 1647 14473.91 VBD 1.29 - - 2448.94 - - - 2219.44 - 77.86 - - 2159.69 - - - - - - - - - - -
14772.60 616.49 7.43 1677 14773.94 VBD 1.31 - - 2448.56 - - - 2219.38 - 77.86 - - 2160.97 - - - - - - - - - - -
15072.64 593.88 7.42 1707 15073.97 VBD 1.33 - - 2448.88 - - - 2220.06 - 77.86 - - 2160.75 - - - - - - - - - - -
15372.67 571.66 7.12 1737 15374.01 VBD 1.36 - - 2449.12 - - - 2219.38 - 77.86 - - 2160.72 - - - - - - - - - - -
15672.75 549.77 7.06 1767 15678.56 1.39 0.16 0.103 2486.25 232.1 4.18 0.143 736.12 -354.8 77.86 - - 2159.62 - - - - - - - - 16.02 15.92 -
15761.59 542.24 8.18 1785 15768.53 done 1.39 - - 2487.12 - 3.62 0.061 2219.69 409.8 77.86 - - 2159.72 - - - - - - - - - 15.97 -
16067.84 519.26 7.03 1816 16069.17 VBD 1.42 - - 2486.69 - - - 2219.19 - 77.86 - - 2159.66 - - - - - - - - - - -
16367.89 497.06 7.19 1846 16369.22 VBD 1.44 - - 2486.88 - - - 2219.69 - 77.86 - - 2159.97 - - - - - - - - - - -
16667.96 476.67 6.54 1876 16673.72 done 1.49 - - 2487.19 - 4.18 0.139 737.38 -354.6 77.86 - - 2157.50 - - - - - - - - - 15.95 -
16772.98 468.49 7.94 1897 16778.74 done 1.49 - - 2484.06 - 3.61 0.059 2219.75 410.6 77.86 - - 2158.47 - - - - - - - - - 15.98 -
17078.06 450.75 5.74 1928 17108.60 1.59 0.23 0.088 2533.19 213.6 - - 2220.81 - 110.79 26.56 1.643 2046.62 -4.2 0.191 - - - - - - 15.98 - 12.73
17408.11 422.56 9.19 1962 17409.44 no move 1.59 - - 2532.88 - - - 2220.50 - 110.79 - - 2043.03 - - - - - - - - - - -
17708.16 395.58 9.50 1992 17709.49 no move 1.59 - - 2533.12 - - - 2220.88 - 110.79 - - 2042.16 - - - - - - - - - - -
18008.20 367.26 9.87 2022 18009.53 no move 1.59 - - 2532.69 - - - 2220.69 - 110.79 - - 2041.44 - - - - - - - - - - -
18308.23 339.37 8.98 2052 18309.56 no move 1.59 - - 2533.00 - - - 2220.31 - 110.79 - - 2041.12 - - - - - - - - - - -
18608.26 311.90 8.85 2082 18609.59 no move 1.59 - - 2533.25 - - - 2220.38 - 110.79 - - 2039.75 - - - - - - - - - - -
18908.43 285.00 8.72 2112 18909.76 no move 1.59 - - 2533.19 - - - 2220.50 - 110.79 - - 2039.97 - - - - - - - - - - -
19208.34 257.71 8.91 2142 19213.93 roll 1.59 - - 2533.25 - 3.45 0.125 3472.69 363.0 110.79 - - 2039.34 - - - - - - - - - 15.97 -
19437.57 234.80 9.82 2188 19444.24 roll 1.59 - - 2533.38 - 3.27 0.060 2180.75 -395.1 110.79 - - 2040.91 - - - - - - - - - 16.01 -
19743.46 210.62 7.15 2219 19749.14 roll 1.61 - - 2531.44 - 4.08 0.137 736.50 -354.0 110.79 - - 2039.16 - - - - - - - - - 15.90 -
19958.50 191.39 9.27 2262 19964.11 done 1.61 - - 2533.31 - 3.61 0.057 2221.44 411.3 110.79 - - 2037.34 - - - - - - - - - 15.89 -
20263.54 169.43 6.80 2293 20269.22 done 1.65 - - 2532.19 - 4.16 0.132 736.12 -357.0 110.79 - - 2038.78 - - - - - - - - - 15.91 -
20348.53 162.49 8.49 2310 20354.16 done 1.65 - - 2532.06 - 3.61 0.055 2222.31 411.7 110.79 - - 2037.72 - - - - - - - - - 15.89 -
20653.58 145.29 5.05 2341 20693.75 1.78 0.23 0.084 2580.12 209.0 - - 2223.19 - 153.59 36.38 1.309 1873.50 -4.5 0.083 - - - - - - 16.00 - 12.68
20993.90 114.03 10.72 2375 20999.32 roll 1.78 - - 2579.94 - 3.43 0.120 3474.06 364.7 153.59 - - 1866.62 - - - - - - - - - 15.87 -
21223.66 91.95 8.25 2421 21229.36 roll 1.78 - - 2580.38 - 3.27 0.054 2179.50 -395.9 153.59 - - 1866.91 - - - - - - - - - 15.89 -
21408.73 82.21 4.75 2458 21455.33 done 1.92 - - 2579.81 - 3.59 0.116 3472.88 360.3 200.65 39.02 1.216 1681.84 -4.7 0.053 - - - - - - - 15.73 12.65
21678.81 60.54 8.84 2512 21684.57 roll back 1.92 0.15 0.100 2613.06 221.7 3.30 0.054 2178.88 -392.1 200.65 - - 1675.56 - - - - - - - - 15.73 15.85 -
21863.91 48.62 4.31 2549 21915.67 2.08 0.19 0.092 2653.06 210.5 3.60 0.114 3472.88 359.4 254.05 44.90 1.158 1463.50 -4.7 0.033 - - - - - - 15.78 15.44 12.35
22058.94 38.12 8.01 2588 22064.64 roll 2.08 - - 2651.50 - 3.29 0.053 2178.56 -393.4 254.05 - - 1459.41 - - - - - - - - - 15.71 -
22244.02 20.63 10.32 2625 22245.35 no move 2.08 - - 2653.12 - - - 2179.44 - 254.05 - - 1457.88 - - - - - - - - - - -
22424.09 2.26 10.08 2661 22425.42 no move 2.08 - - 2652.19 - - - 2179.25 - 254.05 - - 1456.75 - - - - - - - - - - -
22429 end climb: SURFACE_DEPTH_REACHED
22429 begin surface coast
22449 end surface coast: CONTROL_FINISHED_OK
22450 begin surface
SM 0.71 - - - - 172.8 141.65 1.108 767.2 5.4 16.11 0.074 769.8 47.8 - 0.22 0.097 764.8 3476.4 -2.601 - - 12.77 15.68 15.74 -